5-year-old David Lundy was last seen around 6:30 p.m. Friday at a home on the 400 block of Meadow Road in West Windsor Township.
At approximately 11:30 a.m. Tuesday, authorities received information that David was seen with his grandfather, kidnapping suspect 50-year-old Morris Lundy, at a McDonald's restaurant on West Lucas Street in Florence, South Carolina.
The Florence Sheriff's Department dispatched an officer to the McDonald's. The officer then located Morris and David Lundy.
Morris has been charged by the West Windsor Police Department with kidnapping, interference with child custody and endangering the welfare of a child. He has been taken into custody and is currently being held in the Florence County Jail pending extradition.
Officials in South Carolina say David was found to be in good spirits and was not experiencing any issues related to his asthma.
David will spend the night in South Carolina under the care of the South Carolina Department of Social Services.
Case workers from the New Jersey Division of Youth and Family Services are coordinating the return of David to New Jersey with victim assistance coordinators from the Federal Bureau of Investigation.
Upon his return, David will be under the care of the Division of Youth and Family Services.