Natalie Calvo was kidnapped around 6:45 p.m. by an unknown man. Calvo's mother told investigators that they were followed home from a shopping trip to their local Wal-Mart store.
She said when they got out of their car, a man with a rifle confronted them and snatched the girl. He sped away in his car while her mother frantically called 911.
Police say there were two attempted abductions at the Antioch Wal-Mart on Thursday.
The suspect was described as an Asian male, approximately 40-50 years old. He was last seen driving a 1990s gold Toyota Camry. No details were immediately released about how the girl was found.
Anyone with information about the case was asked to call Antioch police at (925) 778-2441.