The toddler suffered minor injuries to her face during the crossing, according to authorities.
"Frustrated" members of the Central American "migrant caravan" began "breaching" the US-Mexican border this week; jumping a ten-foot tall fence in a last-ditch effort to reach the United States before returning to their country of origin.
Since mid-October, thousands of Central Americans, mostly from Honduras, have traveled north through Mexico in a caravan, some walking much of the long trek.
As McAleenan told Fox News, numerous migrants were "lured" to the United States because they were promised entry because of weak laws - even though many of them do not qualify for amnesty. Although a few tried to escape, most walked over to the officials to turn themselves in.
The six people are all part of the same family from Guatemala and included three children: a 2-year-old, a 7-year-old and a 10-year-old. The woman said she would decide her family's next action "in a couple of days".
Other sightseers were seen taking selfies after a visit to the beach alongside the US border wall in Playas de Tijuana.
Ninety minutes later, she and her family were over the fence.
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The attempt to cross into the USA illegally came just days after the migrants were transferred from one temporary shelter to another after it had become unsanitary. They turned around and waved to those still on the Mexican side. They were well organized.
This is in large part because the caravan organizers promised them they could get into the US and stay there as their asylum case was heard.
Border Patrol agents arrested the woman November 26 after she entered the country illegally near Imperial Beach, California, across the border from Tijuana, Mexico, Customs and Border Protection said Wednesday.
All members of the group were taken into custody.
The commissioner added that these scenarios are being played out every day at the border.
"Eighty-five percent of those crossing illegally between ports of entry and all lured by the fact that our legal framework has huge gaps that create the opportunity to stay in the USA while awaiting a court hearing even if they don't a lawful permission or protection claim", Commissioner McAleenan said according to Ms. Pavlich's report. "It's a huge challenge that we need to work with Congress to address", he explained.
Now, the family of four has been released into the United States as they wait for their asylum request to be heard by a judge.