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(CNN) -- A Philadelphia police detective made a promise to a devastated mother: "I'm bringing your girl home."

The promise has been kept.

Carlesha Freeland-Gaither was found alive, three days after her abduction was captured on a surveillance video in Philadelphia and sparked a manhunt, FBI agent Ed Hanko told reporters.

Freeland-Gaither was found in Jessup, Maryland, southwest of Baltimore, and a suspect was taken into custody, he said.

The suspect has been identified as Delven Barnes, 37, Hanko said.

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Barnes is being held on a Virginia warrant for attempted capital murder and other charges in another case, and "then he will be charged federally with the crimes here in Philadelphia," Hanko said.

Authorities credited the public's help in identifying the suspect and his vehicle.

"Tonight we surveilled that vehicle in the area of Jessup, Maryland," Hanko said.

"... When the subject exited the vehicle, that's when Ms. (Freeland-Gaither) was recovered."

Mother hugs detective: 'He brought my baby home'

Freeland-Gaither is in "good shape" but has some injuries, he said. She has been taken to a hospital, and "she is talking to the agents," according to Hanko.

Howard County General Hospital said Freeland-Gaither was released early Thursday.

Earlier, her mother, Keisha Gaither, thanked authorities and the public for their help in finding her daughter.

Then she hugged the unidentified detective.

"He brought my baby home," she said.

The kidnapping is believed to be a "stranger abduction," Philadelphia Police Commissioner Charles Ramsey said on CNN's "AC360" on Wednesday night.

"That's the way it looks now. Of course, we are in the process of interviewing her now," he said.

Video shows woman being forced into car

Police had asked for the public's help in finding 22-year-old Carlesha Freeland-Gaither.

The 22-year-old woman worked as a nurse, her family told CNN affiliate WPVI, and was just blocks from her Philadelphia home when she was abducted Sunday night.

Video, released by police, shows Freeland-Gaither tussling on the ground with her abductor before being forced into a four-door vehicle.

Her glasses and cell phone were dropped onto the road during the struggle. Just before the vehicle pulled away, she broke out one of the passenger side windows, police said.