An AMBER Alert has been canceled for the 10-year-old boy reported missing out of Cadiz, Kentucky.
Authorities said Isaih Boren was allowed to leave with Isaac Ray Chamberlain and they had not returned home.
There was a special concern for Isaih because he has autism and requires medication, investigators said.
Chamberlain was believed to be driving a blue 2004 Chevrolet Venture. Early Tuesday morning Kentucky State Police reported that the vehicle was located in Dawson Springs, but Isaih and Chamberlain were still missing.
A couple of hours later they found Isaih in Hopkins County.
Cadiz Police Chief Chad Grace said that Isaac Ray Chamberlain is in police custody.
Investigators have not released details about the relationship between Isaih and Chamberlain.