Ismail Qurba, 25, and Annmarie Lawton, 29, from Bristol, have been charged with detaining a child so as to keep her from a person having lawful control of her.
The child was unharmed and her family are now being supported, police said.
It is alleged that the pair took the schoolgirl to visit McDonald’s at around 3pm on Wednesday, and were expected to return within an hour.
She was reported missing by her mum at about 7pm.
In a statement Avon and Somerset Police said in a statement: “The child, an eight-year-old girl from Bedminster, Bristol, is safe and well and the family is being supported by specialist police officers and other agencies.
“Officers are grateful to the public and the media for sharing their earlier appeal to help trace the child.
“We continue to ask for your help and support in considering the welfare of the child involved and in view of the active legal proceedings.
“We therefore ask everyone to avoid intruding on the families of those involved and any speculation on the case in social media.”
The pair will appear at Bristol Magistrates’ Court virtual hearing on Saturday, the force said.
The charges are an offence under the Child Abduction Act of 1984.