Colin Custer, Robert Custer

LEXINGTON, S.C. -- Authorities say Robert William Custer, II, the man police say kidnapped his ex-girlfriend and abducted his child, has been captured in Giles County, Virginia.

Deputies say Custer was captured without incident and the child, Colin Nathanel Custer, is okay.

The capture comes after a multi-state AMBER Alert was issued for Colin.

Lexington County Sheriff James Metts said the Alert was issued after a Florida woman escaped from her ex-boyfriend while he was attempting to abduct both her and the 4-year-old child.

Custer may be driving this van.

Police say the two Custers were last seen at the Sunoco gas station at Piney Grove Road and I-26 in Lexington County at about 6:30am.

According to a news release, at about 6:30am, deputies responded to the Sunoco gas station at Piney Grove Road and I-26 and found Renee Pennell-Rashell, 36, of Summerfield, Florida, locked in the ladies restroom.

Authorities say she refused to answer the door. Deputies called in the fire department who assisted in opening the door; deputies entered and found the woman inside, cowering in fear. They say she had bruises on her leg, and abrasions on her wrists.

She was taken to Lexington Medical Center where she was treated and released.

Metts says she told deputies that she had met Custer Sunday evening in a supermarket parking lot in Ocala, Florida, to pick up their son following the conclusion of a court-ordered visitation.

Metts said instead, he abducted her by putting a cloth covered in plastic over her mouth and nose and she lost consciousness. When she came to, she and her son were in Custer's converted Chevy van.

She told deputies when Custer stopped at the gas station, she got her wrists free and ran into the restroom and locked the door.

Shortly before she locked herself in the restroom, she told the attendent on-duty that her life was in danger.

"She went in, told the clerk she was in fear of her life, clerk called police," Metts said. "We responded shortly after."

Surveillance footage shows Custer entering the station looking for Pennell-Rashell.

"The attendant told him that law enforcement had been called," Metts said. "He left in a cream colored van."

Pennell-Rashell is now being questioned by Lexington County Sheriff's Deputies about the incident.

According to the release, Pennell-Rashell told authorities that Custer said he had been planning the abduction for two years and that he had planned to take them to Maryland or Canada.

"We consider him to be armed and very dangerous," Metts said in a written news release. "He told Pennell-Rashell that he would not live on the run and would kill himself and the child rather than go to jail."

Speaking at an afternoon news conference, Sheriff Metts said the child "could be in a lot of danger."

Authorities in Ocala, Florida issued a warrant for Custer's arrest on charges of kidnapping and interference with child custody.