Kayla Maven, of the unit block of Noble Road in Sicklerville, was reported missing on Tuesday.
Her mother told police that Kayla left the home at some point on Monday with the baby, Jeremiah.
Investigators say the two returned to the residence early this afternoon.
Both were in good health.
The Gloucester Township Police Department's Juvenile Investigations Unit as well as the Division of Youth and Family Services are following up on this incident.
