Two-year-old Jalanie Fortson, who is described as a black female, was last seen wearing a hot pink zip up sweater, matching sweatpants and black and grey shoes. Her hair was described as being in two long braids.
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Police were looking for a silver 2008 Ford Fusion with license plate number "7RLR145."
The suspects named in the case are Javonn Fortson, Lipine Faafui, and an unknown third female suspect.
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The suspects were considered armed and dangerous.
San Francisco police said the girl was found safely shortly before 10 p.m.