Staff members at Richmond State Supported Living Center, 2100 Preston in Richmond, said they last saw 32-year-old Toni Sutton around 7:45pm Friday.
According to the Texas Department of Aging and Disability Services, state supported living centers serve people with intellectual and developmental disabilities who are medically fragile or who have behavioral problems.
Sutton is diagnosed with schizophrenia and bipolar disorder, officials said.
Investigators believe she left intentionally, climbing a fence and hitching a ride into Houston.
Sutton's mother said her daughter called and told her she was in the Tidwell/Homestead Road area Friday night.
That is where detectives finally found her just after 8pm Saturday.
Detectives canvassed the area, talking to business and hotel personnel in the vicinity. A clerk at one hotel recognized Sutton and detectives found her walking along a street shortly thereafter.
Sutton was found unharmed and was returned to the living center in Richmond.