The man, identified by Halifax County Sheriff's Office deputies as Donnie Jones, let the child out of the vehicle on a path near the home. The child walked back to the house unharmed, Major Scott Hall said.
The matter occurred on September 9 around 5 a.m. when the victim returned home. When she noticed her residence had been broken into, she ran back to the vehicle where grandchild was waiting.
Jones, who apparently had been inside the house, came outside and reportedly assaulted the victim, striking her in the face.
He fled the area in the vehicle, letting the child out.
Deputies Phillip Moyer and Emerson Carroll responded to the call and Carroll drew up warrants for the arrest of Jones, 43, of Hollister.
He was arrested several hours later in Rocky Mount by city police there. He was jailed on $50,500 secured bond and has a September 24 court date.
He faces charges of second-degree burglary, second-degree kidnapping, assault on a female, communicating threats, common law robbery and possession of stolen goods.