The Chick-fil-A worker, identified by The Washington Post as Mykel Gordon, ran to her aid.
In a video taken by a bystander and shared by the Sheriff's office, Gordon pinned the man to the ground.
William Branch, the other man in the video, was charged with carjacking with a weapon and battery, the Sheriff's Office said.
Mykel Gordon has worked at the Beal Parkway Chick-fil-A for 14 years as an "outstanding," employee, a Chick-fil-A spokesperson told Insider.
"Of course a Chick-fil-A employee ran to help, they're all amazing.