Magento Authorize.net - Authorize and Capture vs. Authorize Only

In order to Capture the payment, do the following steps:

1. Select the order you'd like to capture the payment for (Sales->Orders in admin panel)
2. Click the 'Invoice' button at the top right of the page
3. Once in the invoice page, scroll down and select 'Capture Online' from the drop down menu
4. Click the 'Submit Invoice' button
5. Enjoy a vacation :)