The incident occurred on Wednesday, Aug. 1 on Route 1 (Boston Post Road) near Home Acres Avenue in Milford.
Tori Hinman of Wingdale in Dutchess County, was stopped after making an illegal U-turn in a parking lot, Milford Police said.
Hinman was found to be in possession of heroin, packaged for sale, as well as marijuana, according to police.
Police also discovered a 4-month-old child in the backseat of the vehicle.
Further investigation showed Hinman to have a suspended driver's license, police said.
Hinman was released with a promise to appear in court on Aug. 28.
Click here to follow Daily Voice Greenburgh and receive free news updates.