Caitlyn Frisina, 17, was located in upstate New York with Rian Rodriguez, 27, a family friend and Frisina's father's assistant soccer coach at the high school, authorities said. It's believed she had left voluntarily with him.
On Friday around 4 p.m. ET, a New York State Police officer in Syracuse spotted the car the two were believed to have fled in, according to the Columbia County Sheriff's Office. The officer pulled the car over and took Rodriguez into custody without incident, the sheriff's office said.
Frisina was detained until she was reunited with her family in the Syracuse area.
"We had a very beautiful, wonderful, very emotional reunion with her a little while ago," the teen's mother, Scarlet Frisina, told reporters at a news conference Saturday afternoon. "We are so thankful to have her back."
"We are looking forward to a lot more time together and being able to get back home and move forward as a family," she added.
A photo provided to ABC News by the family on Saturday showed Frisina smiling while embracing her parents.