Former New York Mayor Rudy Giuliani's daughter was arrested Wednesday on a misdemeanor shoplifting charge at a beauty supplies store after she was seen on security video pocketing makeup, police said. Caroline Giuliani, a 20-year-old Harvard University student, was seen taking five items worth more than $100 at a Sephora store in Manhattan, New York Police Department spokesman Paul Browne said. Store managers, after calling police, said they didn't want to press charges against her, Browne said. But police arrested her on a petty larceny charge, he said. Giuliani exited a police precinct Wednesday evening and quickly got into a sport utility vehicle with her mother. Her father, through a spokeswoman, said the case was a personal matter and asked the media to respect her privacy. She's due in court on Aug. 31. Caroline Giuliani is the younger of the former New York mayor's two children with ex-wife Donna Hanover, a television reporter and actress. She is believed to be estranged from her prosecutor-turned-politican father. His son, Andrew Giuliani, 23, has said their relationship became distant after his father's messy divorce from his mother and marriage to another woman.