Friendswood police were looking for the missing 11-year-old child who was last seen Saturday evening on December 10.
The search for Kenny Knupfer began about 5pm after he was last seen just before the Friendswood Christmas Parade.
Police say he was following a fire truck and was with a younger male who was on a scooter.
Police and Fire Department personnel, as well as a helicopter, searched throughout the night and have found no sign of Kenny or his bicycle.
Kenneth has Aspergers but is considered high-functioning. He is outgoing and social.
Police were asking the public not to help in the search because Kenny doesn't like crowds.
Then on Sunday morning, his mother said Kenny called them and said he was at a friend's house.
Kenny's father said he had driven by the house and looked out front but didn't see him.
"I'm 62 years old and this is my trophy right here and I'm glad I got him back is all I can say," said Manfred Knupfer, Kenny's Father.
Kenny said he didn't even know his family had been looking for him. He said he was watching videos with his friend.
Kenny's family adopted him. They have two grown children and then took Kenny in as a foster child at nine-months old. Soon after they adopted him.
Knupfer said he and his family are so grateful to Friendswood police and fire for searching.