Thanks to DNA analysis, Kamiyah Mobley - who is said to be in good health but overwhelmed - has been reunited with her biological family, as the women she believed was her mother was charged with her kidnapping.
Her paternal grandmother, Velma Aiken, said: "I was listening to a pastor at church on Sunday telling us about how some miracle is going to come and I said, 'Lord, let it be my gran baby'. I had no idea but I was saying but I thank God today. I thank God today."
Ms Mobley, 18, was only eight hours old when she was taken from her mother at the University Medical Centre in the Florida city of Jacksonville by a woman posing as a nurse.
According to the National Centre for Missing and Exploited Children, the information regarding Ms Mobley's true identity emerged after a tip-off which was then confirmed when she provided as cheek swab.
Ms Mobley was allowed a few emotional moments with Williams, crying "Momma" through a security door, according to WXJT-TV.
Meanwhile, there were "tears of joy" among the young woman's birth family after learning their baby had been found.
The disappearance of Ms Mobley, who was raised as Alexis Manigo, in 1998 prompted a massive search and, over the years which followed, thousands of tips were received.
Gloria Williams, 51, was arrested at her home in Walterboro (pictured above), South Carolina, early on Friday morning, and charged with kidnapping and interference with custody.
Speaking in 2008, on the 10th anniversary of Kamiyah's kidnapping, her mother, Shanara Mobley, told the Florida Times-Union newspaper she kept a slice of cake in her freezer for each of Kamiyah's birthdays.
She said: "It's stressful to wake up every day, knowing that your child is out there and you have no way to reach her or talk to her."