Edward Bell, 28, and Octavia Howard, 28, were scheduled to be arraigned Tuesday and were being held on $250,000 bail.
Officials said Bell picked up a 22-year-old woman in Long Beach and assaulted her when she refused to work as a prostitute.
Authorities said both suspects then drove her to San Bernardino, threatened her again and then dropped her off with no phone, ID or money. She flagged down a passing deputy for help.
Anyone with information about the case was urged to call the San Bernardino County Sheriff's Department at (909) 387-3545.