The girl was abducted from her home in Los Angeles' Northridge neighborhood between 1 a.m. and 3:40 a.m. Wednesday, the Los Angeles Times reported.
She was found about 3 p.m. Wednesday, near a coffee shop about 6 miles from her home, police said. She was bruised and scratched.
Police said she told them two men were involved in the attack and that she was taken to multiple locations in different vehicles. She was sexually assaulted, police said.
"This 10-year-old child was traumatized after a very traumatic experience," Los Angeles Police Cmdr. Andy Smith said Thursday. "Right now, we are looking at this as a stranger abduction -- one of those things that is very rare in this country but it does happen."
Smith said that there is no indication that this was part of a series of kidnappings and that no similar incidents were reported.
"However," he said, "as a parent, I think every parent knows that until these two individuals are captured and taken into custody, we should use all the caution we can with our children ... We don't know what they are capable of."