The Milwaukee County Transit System says the girl was less than a year old and wearing only a diaper and a onesie when bus driver Irena Ivic spotted him on December 22.
A look of concern covers Ivic's face in the video when she first sees the infant meandering along the sidewalk of the highway overpass near 4th and Mitchell streets.
A Milwaukee bus driver went above the call of duty when she stopped to save an unlikely would-be passenger: a baby. She runs up to him, he stretches out his arms and she takes him into hers and darts back to the bus.
An on-duty bus driver in Milwaukee knew what she had to do when she saw a young boy when a baby wandering around alone near busy streets.
"She did a lot more than her job".
"I'm just grateful I was in the right place at the right time", Ivic said at a commendation ceremony held in her honor on Thursday. "I don't take that kind of compassion for granted", said County Executive Abele. The child was cold to the touch after spending time outside in the freezing temperatures.
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The baby girl was unharmed.
Police said the girl had been left outside by her mother, who is thought to be suffering from a mental health crisis. The child, less than a year old, was reunited with its father.
The child fell asleep in Ms Ivic's arms as she waited for emergency services to arrive.
She said she was just glad she could keep him safe.
MCTS drivers have found nine lost or missing children in recent years, according to their website.