"This is very terrifying to watch a gun getting pointed in your face and watching your baby brother getting taken away and you can't do nothing," she said.
The woman risked her life to try and stop the suspects.
"She jumped on the vehicle and was holding on to vehicle,” DeKalb County police spokeswoman Officer Shiera Campbell said.
When she couldn’t hold on any longer, the woman fell to the ground.
"All I could think about was my brother," she said. "My brother is in that car. I don't care what they do with the car, just give me my brother."
An assistant store manager later found the child on the sidewalk of a Quik Trip convenience store off Wesley Chapel Road just before 10 p.m.
The men ditched the baby a half-mile away at the convenience store, assistant store manager Alex Robles said.
"He drops off the baby on the sidewalk, runs back into his car and just speeds off," Robles said. "He hits a right on Rainbow and we don't see him again."
Police are still searching for the stolen car and the armed suspects.
Robles watched the store's surveillance video; he said they found the baby just before 10 p.m. Sunday.
"No parents, no nobody. I was in shock," Robles said.
Minutes later, the baby was reunited with his family.
The woman said she or anybody in the area, including her baby brother, could have been shot.
Police have not released a description of the stolen car, but said one of the men was wearing a red hoodie.
The store clerk said the other man was wearing a white athletic jacket, but other than that, there was nothing identifiable about the suspects.