Marquise Hudson, 23, faces charges of child kidnapping, grand theft auto and burglary.
Investigators said after he stole the car early Tuesday morning with a 5 1/2-month-old infant, which he later dropped off unharmed at a Sunoco gas station on State Road 7 and Okeechobee Road.
Deputies later tracked the stolen vehicle to Sansbury Way and Okeechobee Blvd.
PBSO did not reveal many details about Hudson's arrest on Wednesday but in a tweet said it was thanks to his mother that her son was in custody.
A probable cause affidavit said Hudson's mother contacted PBSO because her son was "acting erratically." His mother then identified him as the person in the surveillance footage.
Surveillance video of the alleged car thief frantically running into the Sunoco gas station in Royal Palm Beach, trying to drop off the baby spread on social media like a wildfire. The arrest report says several calls and emails came into the investigator from other detectives, likely because this is not Hudson's first arrest, but ultimately it was his mom's call to PBSO that identified him in the surveillance vidoe.
"It's tough, but she did the right thing. Obviously her son has a history of this," said Jose Gutierrez Jr. of Royal Palm Beach.
Gutierrez is a victim from a previous car theft case Hudson was arrested for in January. Gutierrez said he had taken his truck to an auto shop for a repair and was told it was ready to be picked up. When he arrived it was gone and was told the shop had left the GMC pick-up truck running.
"When I first saw the story, it didn't even dawn on me that it would be the same fella that took my truck, but not it makes sense," said Gutierrez.
A PBSO report says detectives found Hudson asleep in Gutierrez's car at a park. Hudson told the deputy that his mom kicked him out of the house and allegedly insisted it was his car, then said it belonged to a friend. Hudson was arrest but the charge didn't stick, neither did one for another car theft in February.
"Hopefully he won't do it again for a while. Let's hope they prosecute him this time," added Gutierrez.
Hudson's arrest report says the white car he is seen driving up to the RaceWay gas station Tuesday morning on surveillance video before getting into the black KIA with the baby inside was also stolen.
When Hudson was taken into custody, PBSO said he denied any involvement in the case.
No bond was set by a judge Thursday morning.
Hey Marquise Hudson, thanks to your mom we have you in custody for Grand Theft Auto & Kidnapping after you carjacked a KIA with a baby inside. #BUSTEDpic.twitter.com/YzxlL9uI1R