Investigators said Keith Wayne Holmes tried to entice a 12-year-old girl into his car just before 11 a.m. near Pearblossom Highway and 85th Street East.
The girl refused and kept walking, but Holmes allegedly continued to drive slowly alongside her until the girl's mother, who was walking behind the child, intervened. Holmes allegedly sped away but the mother was able to get the car's license plate number when he came to a red light.
Sheriff's deputies later detained Holmes during a traffic stop and the girl and her mother identified him as the suspect.
Investigators said they found items in the car that were consistent with intent to kidnap. Holmes said he had rope and duct tape in his car, but that he uses them for boating.
Holmes was arrested for attempted kidnapping of a child under 14 years old. He denies the accusation, but admitted to driving without a license.
Holmes was reportedly taken to a hospital to be treated for high blood pressure.
Holmes has previously been arrested by Palmdale deputies and convicted of annoying or molesting a child twice since December 2009. He is on probation for those convictions.
City News Service contributed to this report.