The stop for a motor vehicle violation occurred on Highway 301 near the Highway 561 intersection around 4:15, according to Agent D.R. Radford of the City County Drug Task Force.
Agent D.J. Hundley identified the driver as 22-year-old Britney Marie Shaw and the passenger as Kenneth Wayne Turner, 43, who are both from Roanoke Rapids.
Hundley, Radford said, was aware Turner had outstanding warrants.
During a probable cause search a spoon was seized and Halifax County Sheriff's Office School Resource Officer Tamika Richardson searched Shaw, finding five bindles of heroin.
Hundley charged Shaw with child not in rear seat, possess heroin and possess drug paraphernalia. She was given a $5,000 secured bond.
Radford declined to disclose the age of the child, but did confirm Shaw is the mother.
Meanwhile, Turner was charged with possession of drug paraphernalia and served with the outstanding warrants for misdemeanor larceny, possession of stolen goods and first-degree trespass.
He was given a $20,000 bond and both were assigned March 25 court dates.
Agent D.C. Dickens also assisted on the traffic stop.