Police in St. Petersburg, Fla., are on the lookout for an alleged auto thief who made a pit stop when he realized there was a 10-month-old baby inside the car.

Surveillance video captured the moment one of the two suspects, both described by police as black male teens, got out of the vehicle with the child's car seat in tow and left the child unharmed on the front porch of a stranger's home Sunday afternoon.

Three minutes earlier, the two suspects had stolen the car, a 2013 Toyota Highlander, belonging to the child's mother, Skekeya Gibson, from a church parking lot while Gibson unloaded tables and chairs from her car.

"It didn't dawn on me to go take the keys out of the car and get the baby because we were going back and forth," Gibson, who could not be reached today by ABC News, told local ABC affiliate WFTS.

"I was terrified, horrified. I could not think straight," Gibson said. "All I could do was scream. 'My baby! My baby!'"

The homeowner arrived soon after the suspects fled to find the baby, named Xenobia, at her home.

"When I pull in, I'm like 'Oh my God, there's a baby on the doorstep!'" the homeowner, Ursula Boykins, told WFTS. "She was fine. She never cried. She was very calm and she was just looking."

Boykins called police, who reunited Gibson with her daughter.

"They got me there and I saw the baby and I felt so relieved that I think I forgot about the car," Gibson told WFTS. All I could do was hold her, and kiss her and hug her."

Police said Gibson's vehicle was recovered in a nearby parking lot nearly five hours after it was stolen Sunday afternoon.

In a statement, police officials, who did not respond to ABC News' request for comment as of this writing, say they are asking for the public's help to find the suspect in the video.

Anyone with information is asked to call the police non-emergency line at 727-893-7780, text a tip to 727-420-8911 or leave a confidential tip at 727-892-5000.