A woman, 45, was dragged against her will into a grey Renault panel van by a man on Dalton Square.
The man then drove off with the victim still inside at around 2pm on Friday, June 5.
The woman was stuck in the van for over an hour before finally escaping her "terrifying" ordeal by jumping out of the vehicle on Cockerham Road in Garstang.
A man has been charged in connection with the kidnapping, but police are urging any witnesses to come forward.
DC Ben Heap, from Lancaster CID, said: "This must have been a terrifying ordeal for the victim who was literally dragged against her will in to a van and driven around for over an hour before she managed to escape.
"We have charged a man in connection with this incident; however, we need anyone who thinks they saw it happen to come forward and speak to us.
"I would like to reassure the public that we believe that this was a targeted incident and there is no wider threat to local residents."
Anybody with information can contact police by emailing [email protected] or calling 101, quoting incident reference number 974 of June 5.
Alternatively, independent charity Crimestoppers can be contacted anonymously on 0800 555111 or online at crimestoppers-uk.org.