I checked the constant and switched power to the starter and it was good. Removed the starter and tested it and it seemed to work perfectly. I didn't understand, if it was getting power to the starter and the starter worked outside the car, what the problem was. I took the starter to autozone and they confirmed my test. I put the starter back in the car and it started. I checked the voltage drop under a load during starting and it was fine. The only thing I can think of is maybe the starter was locked up and while getting it out I knocked it around enough to free it up. I did notice that the ground cable was slightly corroded. I'll have to wait until it does it again to see what's up.