Police found 24-year-old Daniel Prezosi Tuesday morning in the bathroom at a Giant Supermarket in Lower Nazareth Township.
Police say he spent the night hiding under the porch of a home, but came into the grocery store to use the bathroom and warm up.
Store employees recognized him after seeing his picture on the news and alerted police.
Preziosi was arrested in connection with an armed robbery of Wunderler's Market in the town of Bath this past October.
State constables were escorting Preziosi out of the courthouse Monday when he reportedly slipped out of his shackles, jumped into a late model Toyota, and took off.
Law enforcement authorities we spoke with off-camera say it seems like Preziosi had help with his getaway because he somehow had access to some kind of lubricating gel, which he used to slip out of the shackles. He also had ready access to the keys of the getaway car.