Brooklyn baby who fell 2 stories leaves hospital June 20, 2013 -- Updated 1558 GMT (2358 HKT) A toddler who fell from a fire escape is out of the hospital His parents are awaiting arraignment on child endangerment charges Cristina Torre, daughter of former Yankees manager Joe Torre, caught the boy as he fell New York (CNN) -- The toddler who plummeted two stories into the arms of a quick-thinking passerby is out of the hospital and his parents are in hot water, awaiting arraignment on child endangerment charges in a Brooklyn court. Sam Miller and Tiffany Demitro are charged with reckless endangerment and acting in a manner injurious to a child, the Brooklyn district attorney's office said Thursday. Their son, whose name has not been released, was discharged from Lutheran Medical Center in Brooklyn hours after the incident, a hospital spokeswoman said Thursday. It was not immediately clear where the child was Thursday, but three other children in the apartment -- ages 2, 3 and 5 -- were taken Wednesday into the custody of Child Protective Services. The incident unfolded after the boy pushed aside a piece of cardboard blocking an opening next to the second-story apartment's air conditioner and crawled through the window, New York Police Deparment Detective James Duffy said. The boy then climbed onto the fire escape and fell. He first hit the awning of a frozen yogurt shop directly below the apartment and bounced off, Duffy said. Cristina Torre -- the daughter of former New York Yankees manager Joe Torre -- was passing by at the time, saw what was happening and managed to catch the child before he hit the ground, Duffy said. Joe Torre: Baseball champ and domestic abuse survivor CNN's Erinn Cawthorn and CNN Sports' Joseph S. Miller contributed to this report.