According to a police report, the man and woman were waiting in their Toyota Sienna for their son to leave work when two men confronted them.
One man, Aaron Harris, of San Francisco, allegedly pushed a gun against the 47-year-old father's chest and forced him out of the car, police reported. The other suspect removed the man's 45-year-old wife and both suspects then drove off.
A witness took down the car's license plate number and called police, and police officers later found the vehicle abandoned in the nearby Visitacion Valley neighborhood.
Harris was arrested a few blocks from the vehicle after a chase on foot, police reported. The second suspect was still missing this afternoon.
Harris was booked on suspicion of carjacking, drug possession, evading police and resisting arrest, and remains in custody, according to police.