The Sheriff's Deputy was driving on State Highway 12 near Seminole Highway when he saw a 1995 Dodge Avenger driving slowly.
The deputy ran the license plate of the vehicle and found that it had been reported stolen.
With the assistance of Madison Police, they stopped the vehicle at Park Street near Plaenert Drive, and Carter was taken into custody.
He is currently being held in the Dane County Jail on a tentative charge of Party to a Crime of Operating a Motor Vehicle Without Owners Consent.
At the time of the traffic stop, Carter was a passenger in the vehicle.
It was determined that the driver and two other passengers in the vehicle were unaware that the vehicle was stolen and were released.
According to police, the Dodge Avenger was taken by knifepoint by Carter and another man on Sunday, November 9th.
The case remains under investigation by the City of Madison Police Department.