It happened around 6:30 p.m. on the unit block of South 69th Street.
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Police say the vehicle was running with an 11-month-old baby inside when it was stolen.
Action News has learned the baby was later found safe and unharmed.
Officers are still searching for the vehicle, described as a gray 2020 Hyundai Elantra with a New Jersey license plate D48MUS.
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Anyone with information is asked to call Upper Darby police.