A baby who police said was taken by her mother from a Mott Haven foster care center has been found.

The mother and baby were both found safe in Brooklyn and taken into police custody after investigators said the mother took her 6-month-old girl from the Bronx Foster Care Agency on Brown Place.

The mother had permission to be on the premises to meet with her daughter, officials said, but not to take the child.

Surveillance video showed a woman walking casually along the sidewalk with the baby around the time of the incident. 

A spokesperson for New York Foundling, which operates the foster care center, said the agency was cooperating with the police investigation. The Administration for Children's Services was also investigating.

The baby has been returned to foster care. It was not immediately clear what charges the mother may face.