Is it considered stealing to take something out of someone else's basket at a store and walk off with it?

My 9 year old Jeremy has been begging me for a Hannah Montana Walkman all week long. Anyways, this guy grabbed the last one on the shelf. Anyway, I noticed he was strong so I didn't want to go toe to toe with him. While he was messing with a television set and subtly put my hand in his cart and made off with the Walkman.