The boy, Gabriel Newman, had been missing from Person County. The child's father was taken into custody in Danville by U.S. Marshals.
Gregory Wendell Newman is facing charges.
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The Person County Sheriff's Office said Friday that Gabriel's mother is on her way to pick him up.
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Authorities said Thursday that Newman was driving a black 2015 Volkswagen Passat with a North Carolina license plate that reads TDL-8320. The car was last seen traveling on NC Highway 57 northbound toward Danville.
NOTE: Video is from a previous report and will be updated.