Mallory, 47, and the child, Taytum Lewis, were located after his car was tracked to Chicago's Millennium Park. Mallory was taken into custody without incident. The girl does not appear to have been harmed, police said.
Taytum was taken by Mallory, 47, from a relative's home without her parent's permission on Saturday, police said. They tracked the 1998 white Chevy conversion van he was driving with a car locator.
Mallory is being held by the Chicago Police Department on a $50,000 cash bond until he is extradited to Mt. Carmel, Ill. The girl's parents are on their way to get their daughter.
Mallory is charged with kidnapping and unlawful possession of a converted vehicle.