Police have canceled an Amber Alert for Madison Wilson and the 1-year-old-girl was reunited with her mother.
Police said her biological father, Robert Williamson, 46, kidnapped her in New Haven on Wednesday and family helped convince him to turn himself in to police.
Police said Williamson, 46, called Madison's mother and threatened to kill himself and the child. A family friend called police.
Police were looking for a teal Dodge Intrepid with Connecticut license plate 431-YTD and took Williamson into custody on West River Street.
He was thought to be in possession of a firearm and is bipolar, according to New Haven police. No gun has been found in his possession.
Police initially reported Madison's age as 2, but the Madison's mother told NBC Connecticut her daughter just turned one.