Brenton Alex Simmons, 24, was charged with five counts of kidnapping after being apprehended by police.
A day care worker left the two girls and three boys alone inside the running vehicle at a Jack in the Box restaurant while she went inside to get food for one of the children.
Police say Simmons hopped into the van and drove away, with the children screaming and people chasing behind.
Hours later police were able to locate the vehicle when one of the children on board, 9-year-old Alex Veasley, noticed a cell phone in cup holder and called 911.
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