Police are investigating the theft of the paralyzed man's terrier last weekend.
Surveillance video shows a woman picking up the dog and running into a car half a block away from Frank Casanovas' home.
Casanovas, 55, considers 8-year-old Princess a service dog of sorts.
"I'm very attached to that dog," he said. "She means a lot to me."
Casanovas was paralyzed in a car accident 37 years ago, and he credits Princess with alerting family members during two recent health scares -- including one that resulted in Casanovas having a pacemaker implanted.
On Saturday, Princess ran out of the home, which is not uncommon.
But as the video shows, someone grabbed her on her way back.
The dog was found a couple of blocks away on Friday, presumably ditched by the suspect.
A passerby recognized Princess and called the Casanovas.
Eyewitness News cameras were rolling when pet and owner were happily reunited.