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.
The Person County Sheriff's Office said Friday that Gabriel's mother is on her way to pick him up.
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.