Three men hijacked a car in Brakpan and drove off with the owner's eight-year-old daughter before dropping her off unharmed in Vosloorus, police said on Saturday.

Police spokesperson Captain Petros Mabuza said a couple and their daughter were entering their driveway in Sherwood Gardens at about 9.40pm on Friday, when three men with guns approached them.

The men forced the parents out of their Toyota Hilux, before driving off with the daughter.

About three-quarters of an hour later the vehicle was recovered in Katlehong.

At about 10.40pm security men patrolling taxis near a hostel in Vosloorus found the girl, who had been dropped off unharmed.

She was taken to the Vosloorus police station before being reunited with her parents.

No arrests have been made but police are investigating a case of hijacking.