The man jumped into the driver seat at Putt Grove in Keysborough, stealing the car whilst the 11-month-old was in the back.
After an appeal was issued, a member of the public notified the police - reported a sighting of the vehicle in Cranbourne around 5:30pm.
The boy was reunited with his family following a police pursuit.
The suspect, a 46-year-old from Frankston was later charged with kidnapping, theft of a vehicle, driving unlicensed and committing an offence while on bail.
He will appear before Melbourne Magistrates' Court today.
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