Surrey RCMP said a suspect was apprehended Tuesday afternoon without incident not far from where the stolen vehicle was found.
They are recommending a number of charges including robbery with a firearm, assault with a weapon, dangerous operation of a motor vehicle and unlawful confinement.
The suspect, who is well-known to police, has been remanded in custody until his next court appearance on Dec. 27.
Police were first alerted to the suspect at about 12:30 p.m. Tuesday when they received a report that a man with a gun was spotted near Fraser Highway in southeast Surrey.
Before officers arrived, they received word that a Toyota pickup was stolen with a pregnant woman inside the vehicle. The truck was subsequently involved in a multiple-vehicle crash, and the suspect allegedly fled the accident scene.
Police allege the suspect next carjacked a Ford Escape SUV with a baby girl inside. Within minutes, officers found the abandoned vehicle and the infant inside unharmed.
The pregnant woman involved in the early incident was taken to hospital with minor injuries, said an RCMP spokesman. A gun was found in the pickup.
Police said none of the multiple victims were seriously injured, but are all recovering from a traumatic experience.
Cpl. Bert Paquet said in a statement that smart decisions made by officers and dispatchers were crucial to finding the baby girl safe and sound.
An urgent call was put out to locate the suspect and every available officer was dispatched to help, police added. Officers also received support from Langley RCMP.
"What a wonderful Christmas present to be able to return this baby into the arms of her mother," Paquet said in a news release.