It happened around 10 a.m. at a supermarket on Passoy Avenue in Kearney.
Police say the father was loading food into his BMW X6 when he was approached and pushed to the ground.
The attacker then jumped into a BMW and ran away with the girl in the back seat.
Authorities later found the car abandoned on Pasek Avenue and Clay Street in East Newark, about a quarter of a mile from ShopRite, with a child in the back seat and a whole.
The girl was taken to hospital for observation.Kearney police confiscated the car, an investigation is ongoing.
The father got bruised.
ShopRite officials declined to comment.
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