NEW CASTLE, Del. (WPVI) -- Authorities have cancelled the Amber Alert for Elinor Trotta after the 3-year-old and her father were located in Spencer, Massachusetts Tuesday afternoon.Elinor's father, 43-year-old Michael Trotta, is now in police custody, charged with assault, carjacking, endangering the welfare of a child, and reckless endangerment.Police say it was around 3:30 p.m. when SWAT teams moved in, taking Michael into custody and recovering the little girl outside an apartment complex in Spencer.Elinor's mother, Dawn Barkus, spoke of receiving the good news that her little girl was safe, saying, "Today is my birthday, and I prayed all day to God that I would get her back, and he gave me the best birthday present ever. And I'm going to go get my Elinor back."The alert was issued around 7:00 Monday night after authorities say Michael Trotta took his daughter from the home she shares with her mother in New Castle, Delaware.Police say Michael Trotta had assaulted Barkus, his ex-girlfriend, before taking Elinor.The Amber Alert went out across several states, and Trotta was spotted in Mount Laurel, New Jersey last night.We've learned that the FBI had Trotta under surveillance at the Spencer apartment building. Officials believe he traveled there because of family connections.At about 3:30 p.m. he walked out, little Elinor was with him, and SWAT teams didn't hesitate or negotiate before moving in to secure the pair.Trotta was taken into custody by the FBI without incident.Col. Elmer Setting from New Castle County Police says, "He had the child with him...They had a visual on him, and again that's why you want to have a relationship with your federal partners. Today is a great example of working together."Earlier in the day Col. Setting explained that warrants were issued for Trotta stemming from Monday's assault, as well as a previous assault on February 15, 2015 involving Elinor's mother.New Castle County Police released a statement after the pair were located, reading in part: "After an intense and aggressive investigation, detectives were able to locate Elinor and are working to reunite her with her mother."Elinor's mother, Dawn Barkus, will be flying with law enforcement officials to Massachusetts where she will be reunited with her daughter.Trotta is being held without bail as he awaits extradition to Delaware.Police believe he may have had help fleeing. So there may be others charged in this case.