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Two people charged after mum's car allegedly stolen in Yeppoon with three-month-old baby inside

The incident was captured on security cameras. The car was stolen as she loaded groceries into the boot. (Supplied: Queensland Police)

Two people are facing charges accused over a "distressing" car theft in central Queensland that left a young mum screaming out for her baby girl inside.

Detective Acting Inspector Luke Peachey said the mother was collecting groceries through a click-and-collect service at the Yeppoon shopping centre on Wednesday when allegedly another woman got into the driver's seat and drove away.

"It's obviously very distressing for the parents of that little girl," he said.

Cobraball woman Monique Ericka Hudson, 24, was charged with a string of offences, including one count of abduction of a child, one count of dangerous operation of a vehicle and two counts of driving without a license.

Mount Morgan man Christopher Travis Lee Tremaine, 36, was also charged with one count each of unlawful use of a motor vehicle and stealing, while also charged with four counts of breach of bail.

They were denied police bail and did not appear for their mention in the Rockhampton Magistrates Court.

Acting Inspector Peachey outlined the police allegations and said the mother was "very shaken up" by the alleged incident.

"She's got a sleeping three-month-old daughter in the back and would have only taken a matter of minutes to just load those [groceries]. She wasn't leaving the car, she was only loading the car," he said.

Detective Acting Inspector Luke Peachey praised officers for bringing the pair into custody. (ABC News: Rachel McGhee)

"Fortunately, the child wasn't injured, however, there were a number of people who were trying to come to their assistance and were struck by the vehicle who received leg injuries.

"It appears the vehicle was stopped as it was driving out by passers [by] who were alerted to the mother screaming out, 'My child's in the vehicle,'" he said.

"A 16-year-old boy has come to aid and removed that [baby] from the vehicle.

"That 24-year-old female has driven off again and run over the foot of that 16-year-old."

The teenage boy and a 39-year-old woman were taken to the Yeppoon hospital and treated for their injuries.

Phoebe Halson was injured during an alleged car theft in Yeppoon. (ABC Capricornia: Michelle Gately)

Phoebe Halson also witnessed the alleged incident.

A parent herself, Ms Halson said she was "terrified" for the mother of the baby.

"All I could think of was we need to try and get this baby back to this mother," she said.

"It was horrifying. It was scary. It was one of the most terrifying experiences of my life.

"I just pray that no-one ever has to go through anything that any of us went through again."

Acting Inspector Peachey said officers are considering ways to formally recognise the bravery of three members of the public who they say stepped in to help.

Officers found the alleged stolen car at Bungundarra about 4pm Wednesday.

The matter is due to return to court in May.

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