An East Harlem crook who swiped a minivan off an East Harlem street returned it in a panic after realizing one of the victim’s kids was still sitting in the backseat, cops said.

The victim, a 57-year-old man, was unloading groceries from his Honda Odyssey on E. 107th St. near Third Ave. about 2:40 a.m. Sunday when the opportunistic robber struck, cops said.

The father had two children with him, ages 7 and 9 and one had stepped out of the vehicle with him. The other child was still inside the minivan when the thief hopped into the front seat and drove off before the startled dad had time to react, police said.

But when the crook spotted the child in the backseat he decided the heist wasn’t worth the trouble, police said. He pulled around the block, parked the car near where he swiped i

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