The incident comes just days after a 5-year-old girl in Palmerston North was abducted off the street by a man. The child was found later in the day.
The mother of the Whanganui girl said her daughter arrived home breathless, "absolutely terrified", and "white as a ghost".
She said her daughter was too afraid to go out on her own, and was not sleeping.
"It was a very traumatic experience. We just want people to be aware in the community ...kids need to be vigilant."
The girl did not get the number plate of the car.
Detective Senior Sergeant Neil Forlong also reminded people to be vigilant, and said police were interested to hear about things if they happened.
Police are dealing with the incident.