Investigators said 10-month-old Elijah Rivas was kidnapped Saturday night from outside his mother's house in Riverdale by his father, 19-year-old Edgar Ramos.
Ramos turned himself in to authorities Sunday night.
Police said the boy was dropped off at Ramos' mother's house.
The boy's mother, Lupe Bueno, said she and Ramos are involved in a bitter custody dispute.