Police say the 35-year-old man has been charged with kidnapping, aggravated vehicle taking causing injury, common assault and driving when unfit through drink or drugs.
He is further charged with failing to provide a specimen of breath for preliminary test, failing to provide specimen when driving unfit, no driving licence and using a motor vehicle without insurance.
The suspect is to face Belfast Magistrates’ Court on Monday morning for a first remand hearing.
The incident happened on Boucher Crescent on Saturday when a woman got out of a car and a man jumped in and drove off.
Members of the public helped stop the car and the children were not hurt.
The man was arrested a short time later.