What can I do if I took a large amount of money and the person said I could pay it back but the family is pushing arrest?

You should have paid it back before they decided to have you arrested. That is still your best option if possible. You say you did not do it with "malice" as if that matters. You stole the money and you should pay it back before you are arrested.

Your question requires an attorney consultation. It is not a simple question that can be answered on this type of forum. There are many factors that would need to be considered and evaluated. The short answer is that if you are arrested now, you could be charged with theft. I strongly suggest that you contact an experienced criminal defense attorney for a face-to-face consultation and give him/her all of the facts surrounding your situation. He/she would then be in a better position to analyze your case and advise you of your options.

You could be charged with Felony Theft and face jail time and would be required to make restitution.

If they do that and it has been five years, then the prosecutor will probably not press the charges since you have been paying the money back. That is unless the person is elderly and not in her right mind and the payments are nominal.

If you are arrested you will be taken to jail. You will probably need to post bond. There will be criminal charges against you and you should get an attorney.