Imran Khan of Accrington, Lancs, is accused of taking a child under the Child Abduction Act and inciting a girl under 13 to engage in sexual activity, police said.
A man is due to appear in court today after being charged with the abduction of a girl.
The six-year-old youngster was taken from Nairne Street in Burnley, Lancs, at about 4pm on Thursday.
It is believed she was dropped off 30 minutes later three miles away in Whitefield Street, Hapton, where she was found and returned home before police were called.
Imran Khan, 33, of Pendle Street, Accrington, is accused of taking a child under the Child Abduction Act, said Lancashire Police.
He has also been charged with breaching a Sexual Offences Prevention Order and inciting a girl under 13 to engage in sexual activity.
A police spokeswoman said: “He appeared before Burnley Magistrates this morning.”
He was remanded in custody by Burnley magistrates.
He is due to face the charges at the town’s crown court on 23 April.