What is incumbent upon one who took a vehicle without its owner's permission to rescue an ill elderly woman from heavy rain, fear, and panic, and was unable to return the vehicle or seek permission from its owner?

If you fear for the woman's demise or a frightening illness due to the absence of a vehicle, then a vehicle must be taken, even if it belongs to someone else, to save a life, because necessities permit the prohibited. The vehicle must then be returned to its place. If it is lost and its owner cannot be identified, then repentance and giving charity equal to its value on his behalf are obligatory. However, if there is no dire necessity, then taking the vehicle is considered an encroachment on people's property, and repentance along with giving charity is obligatory. This action does not affect the Hajj.