The incident occurred in wee hours yesterday, when Gunjesh Tiwari picked up the child sleeping near her mother in Kailasnagar locality and raped her nearby, police PRO Sukhada Narkar said.
Tiwari is a distant relative of the girl's mother, police said, adding he sells garments for living.
The girl's mother lodged a complaint with the police, who arrested Tiwari yesterday itself after going through the CCTV footage in the area.
He has been booked for rape and under various sections of the Protection of Children from Sexual Offences Act (POCSO).
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