Members of the public caught and held on a jewelery shop.
The owner of the shop, in London, said he feared for his life.
Police said a car was driven into Sultan's on Uxbridge Road.
A man, aged 34, has been charged with robbery, dangerous driving, possession of an offensive weapon, criminal damage and receiving stolen goods.
The co-owner Jamal Sarhan said that he was not a hurt person.
"I told them to take whatever they liked but 'please do not hurt anyone'.
"I thought I was not going to see my kids again," he said.
Pinned to ground
In a video published on social media, three men wearing motorcycle crash helmets can be seen running away after the raid.
Chase before catching one man.
They can be seen pinning him to the ground and some people can be seen punching and kicking him.
Two officers arrived shortly afterwards and were filmed handcuffing him.
Police are appealing for anyone to contact them.