Martin Brophy, of Colin Road, was waiting in the communal area for the court to reconvene when he made off, according to a Met Police statement.
The 36-year-old had previously been found guilty of a burglary, in Wembley, in October 2014, police said.
Unknown to him, he was due to receive a 21-month prison sentence.
After his escape, a warrant was issued for his arrest.
Brophy was arrested in the early hours of Thursday (July 23) after a member of the public noticed him sleeping rough in a car in Oman Road, Kilburn.
He was arrested and brought back before the court where he was formally sentenced to 21 months in prison.
Detective Constable Nick Lee said: "Martin Brophy, a prolific thief, thought he could avoid a prison sentence by running away from court.
"I'm very pleased to say he has now been recaptured by Brent Police following a man hunt, and is now residing at Her Majesty's pleasure as per his sentence from Harrow Crown Court.
"It is hoped that Mr Brophy will learn from his actions and start the rehabilitation process he needs to turn him around and move away from crime."