According to the Chester County District Attorney's Office, the mother and child were located in McLean, Virginia on Thursday morning after a traffic stop.
The child did not appear to be harmed, but her mother, Vanessa Gutshall, is charged with kidnapping of a minor, unlawful restraint of a minor, endangering the welfare of children, and other crimes.
Initially, when police stopped the vehicle, no one else was seen inside.
Several minutes later, they found the child hidden under blankets in the back seat.
The Chester County District Attorney's Office and the Downingtown Police Department say the 6-year-old was last seen around 6 p.m. Tuesday, Oct. 25 in the area of East Ward Elementary School on the 400 block of Washington Avenue.
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They say the child was at that location for a court-ordered, non-school-related supervised visit with her 37-year-old biological mother.
According to authorities, the supervisor of the visit reported to police that the mother fled with the child.
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An Amber Alert was issued Tuesday night but was canceled Thursday afternoon.
Gutshall is awaiting extradition back to Chester County.