Willis left the home but returned just after 1:30 p.m. allgedly armed with a handgun. Authorities said he broke into the house through a window and confronted family members in the house.
Authorities said he took his son and fled in his car.
Officers found the man at a relative's home in the 1500 block of W. Gilbert Street in San Bernardino.
The boy was uninjured and was returned to his mother.