Kamiyah burst into tears as she said goodbye to Williams, 51, on Saturday as her abductor waived extradition to Jacksonville, where she will face kidnapping charges.
'I love you mom,' she told Williams as the two shared a moment, separated by a mesh screen in the Colleton County Jail in Walterboro, South Carolina.
Williams blew Kamiyah a kiss as the teenager cried out 'Momma' and told her abductor she was 'praying' for her.
Just hours after police revealed that Kamiyah Mobley had been found, Manigo took to Facebook to defend her abductor.
'My mother raised me with everything I needed and most of all everything I wanted,' she wrote. 'My mother is no felon.'
My mother raised me with everything I needed and most of all everything I wanted. My mother is no felon.
Kamiyah Mobley
The mystery of Kamiyah Mobley became a national sensation when she was stolen from her mother Shanara Mobley's arms at the University Medical Center in Jacksonville in July 1998.
Williams had suffered a miscarriage about a week before she drove the three hours from South Carolina to Florida and abducted baby Kamiyah, Walterboro Live reports.
It is believed she then passed off Kamiyah as her own daughter to family and friends, who said they never suspected a thing.
Jacksonville police said the teenager found out on Friday morning that the woman who raised her in Walterboro her whole life was not her real mother.
Within hours Manigo was able to reconnect over FaceTime with Shanara and her father Craig Aiken, who both cried 'tears of joy' after a detective told them their baby had been found.
Her family is planning to drive to South Carolina on Saturday to reunite with the daughter they thought they had lost forever.
Meanwhile Williams, who also has two biological children who grew up with Kamiyah, will be extradited back to Florida as soon as possible and is being held without bond, according to Jacksonville Sheriff Mike Williams.