Police used the SUV's navigation system to locate the vehicle outside a home on Hampton Road Monday morning.
That's where they arrested four people, including Justin Peterson, 23.
Peterson is now charged with Class C Felony Tampering with a Motor Vehicle. He is being held on a $15,000 bond.
Police said Peterson took the SUV as it was warming up at a home near 28th and Felix Monday.
The owners of the vehicle worked with police and an auto dealership in St. Joseph to track the SUV and eventually disable it using the navigation system on board.
A woman arrested for questioning in the case was released. Two others were arrested at the home on unrelated warrants