Around 7:30 p.m. Thursday, police said, Ahorrio-Martinez and his father, 47-year-old Eddie Ahorrio-Saavedra Sr., entered the woman's Lancaster home through an unlocked door.
Inside, they found Ahorrio-Martinez's wife, her boyfriend, and the boyfriend's 15-year-old sister.
Police say Ahorrio-Martinez pulled a handgun and pointed it at the group inside the house.
Then, police say, his father hit the boyfriend several times in the head with a wrench, causing injuries that later required hospitalization.
Meanwhile, Ahorrio-Martinez grabbed a cellphone from the boyfriend's sister, police said.
Then he dragged his children out of the house and into a waiting car, police said. Both men fled the scene with the children, police said.
Pennsylvania state police issued an Amber Alert as Lancaster police searched for the vehicle, a 1993 black Nissan Altima.
Before dawn Friday, they received a tip that the car was near Vineland, N.J. Then they heard the men were en route to Boston.
Finally, another tip indicated they were heading toward Philadelphia, and at 7:30 a.m., State Trooper Daniel Woody spotted the Altima heading south on Route 1 toward I-76 East.
Woody pulled the Altima over, and, with assistance from Philadelphia Police Lt. Edward Baldini, took the men into custody without incident.
The officers found the children asleep in the backseat "in good health."
Ahorrio-Martinez has been charged with burglary, two counts of kidnapping, robbery, three counts of simple assault, and conspiracy. Ahorrio-Saavedra has been charged with burglary, two counts of kidnapping, aggravated assault, conspiracy to commit kidnapping, and conspiracy.