James Chadderton, 51, of 263 Patton Place, is charged with aggravated driving while intoxicated, endangering the welfare of a child, criminal contempt, driving while intoxicated and failure to stay in a single lane, police said.
He is scheduled to be arraigned Monday at First District Court in Hempstead.
Police pulled over the vehicle and noticed that Chadderton's 8-year-old daughter was sitting the a "rear section of the vehicle," according to a news release.
No injuries were reported, and the girl was released to the mother who responded to the scene, police said.
Under Leandra's Law, passed in 2009, the aggravated DWI charge is a felony. The law was passed after the death of Leandra Rosado, 11, who was killed in an DWI accident after the minivan in which she was a passenger crashed on West Side Highway in Manhattan.