The police said they were speaking to the teenagers and ambulance officers were called to assess the infant as a precaution.
Fifteen-year-old Jenifer Morrison and 14-year-old Jayden Lavender left Nepean Hospital about 12.30am today (Thursday, April 13), taking their three-day-old baby with them.
Police hold concerns for the welfare of all three.
CCTV footage showed the young parents leaving with an unidentified man.
She said Jayden and Jenifer made the decision to smuggle their baby out of hospital after they were told they would not be able to take Aria home with them.
"They don't want to be apart from their baby, they're good parents", she said.
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Detective Chief Inspector Healy said the teenagers were not in trouble, but hospital staff had wanted to see both the newborn and the mother.
"To Jenifer and Jayden, the two parents, you're not in trouble".
"The doctors still need to see your baby and make sure it's progressing nicely".
He said they were "very young parents" who needed help.
'That tells me he knew that it wasn't the right thing to do, ' she said.
"The hospital would like to see the baby to make sure it's alright".
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With their baby swaddled in a blanket, the young couple left Nepean Hospital just after midnight on Thursday, caught a train to Mount Druitt and bought a tent, sleeping bag and camping supplies from Kmart.
"We've spoken to their parents and they have given us some information that they are working on". Lavender has brown eyes and short brown hair and was last seen wearing a black and white hooded jumper.
Jenifer is described as being of Caucasian appearance with long brown hair. Morrison has long brown hair and was last seen wearing a white hoodie, grey tracksuit trousers and Ugg boots.
It's believed there is a man with the children but his identity is unknown.
Anyone who may know the whereabouts of the children should ring 000 (triple zero).
Jayden's mother Tracy Lavender says Jenifer's first instinct was to run after being told by a social worker she wouldn't be able to take Aria to Ms Lavender's house to live.
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