Leo Robinson was part of a group that forced entry to a property on Higgins Lane in Quinton.
They demanded cash and jewellery before making off in an Audi and BMW, owned by the homeowners.
It happened in the early hours of March 1 and later the same day Robinson was stopped by police carrying out stop and searches in Winson Green.
The 19-year-old was caught with the keys to the Audi on him and he was arrested – with a search of his home address on Carlisle Road, Winson Green, finding watches and cash stolen during the burglary.
Robinson pleaded guilty to robbery and was sentenced to six years in prison at Birmingham Crown Court on July 30.
DC Mark Timmins, from Force CID, said: “This was an awful and terrifying experience for the victims who were threatened in their own home.
“Officers discovered him with the keys to the Audi later the same day and subsequent searches of his own car and home proved he was part of the burglary.
“He has refused to disclose details about anyone else involved, but the investigation doesn’t end here and we are determined to trace the others and bring them to justice.”