New York State Police say an AMBER alert for a from Mount Vernon has been canceled.
Ranaldo Brown, 5, and his mother's former boyfriend were located earlier Monday morning.
Police said Thomas Whaley, 49, took Brown on Sunday morning from a relative's home for an outing but then did not come back, prompting the police to get involved.
Cops found Whaley and Brown at a home of a relative in the Bronx on Monday morning, according to the Mount Vernon mayor's office.
Investigation revealed that Whaley, who is homeless, kept the child outdoors overnight, sleeping in a park, authorities said.
Whaley, who has an extensive criminal record, was charged with unlawful imprisonment and endangering the welfare of a child, both misdemeanors.
The Associated Press contributed to this report.