The SFPD said it responded to the 1100 block of Mission St. at approximately 1:30 a.m. to a report of a possible kidnapping of Fatima Abuzahra.
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Police determined that Fatima was taken from her home by a relative, Enas Birawi, without the father's knowledge or consent.
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Police said on Wednesday they located the girl, the suspect and the suspect's 8-year-old son on the 1500 block of Lombard St. around 5:30 p.m. the same day on Tuesday.
All appear to be in good physical health, police said.
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The 4-year-old victim was reunited with her father as well as the suspect's son whose custody was given to his father, police added.
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Birawi was arrested and faces felony charges of kidnapping and child endangerment.
Anyone with information is asked to contact the SFPD at 415-575-4444 or text a tip to TIP411.