Isiah Dequan Hayes, 19, and 22-year-old Daireus Jumare Ice were arrested after the mother of the baby found footage.
The horrified mum was said to have been able to identify the men from the video.
The alleged attack took place in Shelby, Tennessee, 2016.
But police have only now brought charges after determining Hayes was in the video and Ice filmed it.
Hayes also was indicted on a charge of aggravated rape of a child.
Ice also was indicted of being criminally responsible for the conduct of another person in the aggravated rape of a child.
Police say the vile video showed a man, who was not wearing trousers or underwear while he touched himself while near the child, according to broadcaster WREG.
In February, police say, Hayes was arrested after he admitted to molesting the 9-month-old girl, according to WMC5.
Hayes’ older brother, who asked not to be named, told local TV station WREG the family found the arrests “heartbreaking and scary”.
“Us as a family, we apologise,” he said.
“I know that the child may not remember but it’s something a mother is going to have to hold on to forever.
“Like, knowing that your child was exposed to something like that. You trusted your child with someone, and you have to deal with seeing this on your own.”
It is unknown the exact relationship that the alleged assailants had with the unidentified mother.
Both are in Shelby County Jail,.
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