Around 7 PM, Rahul was whisked away by police, first to 5 Firoz Shah Road and later to Tughlak Road Police Station where he was kept for over one hour.
The police action triggered sharp reactions from the Congress leadership which accused the Narendra Modi government of making a "mockery of democracy" and likened the situation to an "undeclared Emergency".
Police sources claimed that Rahul wanted to lodge a complaint of "kidnapping" against it, however, he "later changed his mind."
Police also claimed that Rahul refused to get off the police vehicle at Firoz Shah Road, forcing them to take him to Tughlak Road Police Station.
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The police action enraged Congress leadership, prompting former Union minister Salman Khurshid, former Delhi Chief Minister Sheila Dikshit, Congress spokesperson Randeep Singh Surjewala and DPCC chief Ajay Maken to hit out at the Centre, under which the Delhi police functions.
Earlier, confusion prevailed on whether Rahul was detained or not as police kept on claiming that the Congress leader was not detained but merely taken away from the protest site keeping his security in mind.
"Police vehicle was stopped at 5, Feroze Shah Road, enroute to Tughlak Road PS," he tweeted.
At Firoz Shah Road, Rahul told reporters, "I have only one thing to say that the way the family was treated was wrong and it may affect the morale of the army. The police should at least apologise to the family. Prime Minister should apologise to the family, accept what he did was wrong and deliver OROP.
"The Prime Minister should act on 7th pay commission. He lied that OROP has been implemented. That's why the gentleman killed himself. His family was disrespected and humiliated," he said.
Yesterday, Rahul was detained twice when he went to meet the family of Ram Kishan Grewal, who committed suicide over the "non-implementation" of One Rank One Pension (OROP).
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Delhi Police claimed that it asked Congress leaders to hold the protest in Jantar Mantar and not march to India Gate but the party proceeded with the march.
An official statement from the Delhi Police released tonight said, "A candle march was proposed to be organised by Congress Party from Jantar Mantar to India Gate. The Congress Party was advised in writing to hold the event peacefully at Jantar Mantar only.
"However he refused to come out of the police vehicle. He was then brought to Police Station Tuglaq Road along with others and was released immediately," the statement said.