Pennsylvania State Police said 23-year-old Eddie John Ahorrio-Martinez Jr. and 47-year-old Eddie Ahorrio-Saavedra Sr. took the younger man's 3- and 4-year-old children Thursday from a home in Columbia, Lancaster County.
Police allege the son pointed a gun at his estranged wife, her boyfriend and his 15-year-old sister and the father struck the boyfriend in the head with a pipe wrench.
A state trooper spotted their car Friday near Philadelphia and both suspects were arrested. Both men were charged with counts including kidnapping, robbery and aggravated assault.
The children were unharmed in the back seat and have been reunited with their mother.