While it is unclear from the footage if officers aimed their weapons at the child, Tallahassee police has since released further footage of the incident from officers' bodycams.
An arresting officer, along with the child's mother and her arrested husband, all attempt to coax the girl away from the truck.
The video shows police officers in Tallahassee, Fla., pointing their guns at the truck, yelling at its occupants "Put your hands in the air" and "Get out of the truck".
The video, which has since gone viral on social media, shows officers with their guns pointed at a black truck as a man walks towards them with raised arms.
The person filming can be heard saying: "She's trying to get out, but she can't because she's so little".
'They're still holding the gun at the baby, ' says one viewer.
But the Tallahassee Police Department later released body camera footage revealing police had in fact comforted the child, focusing on her safety in the hard situation.
"You're okay, come over here sweetie, you're okay", one officer can be heard telling the girl.
"Unexpectedly, a two-year-old girl climbed out of the truck and imitated her parents by walking to the officers with her hands raised", he said.
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He said officers were surprised when the little girl popped out of the truck and approached them and ask their detainee are there any other adults in the auto.
"No sir", the man replies.
"The mom, who is a suspect, asks an officer to hold her two-year-old as she retrieves the infant from a auto seat".
Two men were arrested and later charged with theft, according to police, and the children were taken by their mother.
DeLeo said a pellet gun was located in the vehicle.
Police eventually allowed a woman, who was reportedly the toddler's mother, to hold the toddler and another young child while officers tried to diffuse the situation.
"This incident demonstrates the value of body worn cameras providing a different perspective of the same incident", DeLeo said.
Officers stopped a vehicle in the parking lot of the center and ordered the drivers, identified as 34-year-old Chad Bom and 38-year-old James McMullen, to exit the truck, WTXL reported.