Danny Allen Sr. was found in the 9000 block of Louetta Road around 2:30 p.m.
He is now safe and sound at home with his family.
He had been last seen in the area of State Highway 249 at Schroeder Road earlier Friday.
Allen, a U.S. Navy veteran, was diagnosed with dementia, according to the office of Mark Herman, Harris County Precinct 4 Constable.