CRJ-900 flight crew reported a GPWS alert on approach. Flight crew corrected aircraft glide path and landed uneventfully.

Narrative

GPWS Caution Visual XR at ZZZ.ATC was giving pilots vectors for final on the XR visual backed up with ILS XL into ZZZ. The pilots started the south of the field turning right to line up with the runway. ATC vectored the pilots near ZZZZZ. The pilot monitoring that he would be safe do descend to 2;000 feet. The Pilot Flying selected 2;000 feet in the altimeter and selected vertical speed. The plans was descending around 700-1;000 feet per min down (unsure). Near 2;000 feet and just outside of ZZZZZ1; approx 1-2 miles from ZZZZZ1; the pilots heard the GPWS caution. The Pilot Monitoring said to pitch up and the pilot flying disconnected the autopilot and hand flew leveling the plane at 2;000 feet; which the flight director was already doing. The Pilot Monitoring said after landing that he looked at the wrong altitude and should have said 3;000 feet instead of 2;000 feet. Both pilots never felt unsafe and wondered why the GPWS caution went off on the first place. The Pilot Monitoring didn't see anything on the terrain map during this incident. The flight continued as normal.Increased situational awareness from both pilots. Pilot Flying checking Pilot Monitoring.