Police started looking for the boy after he drove off from the family's Hackensack home following an argument around 8 a.m. Wednesday.
Officers found the brown Honda outside the Westfield Garden State Plaza in Paramus later in the day and they located the boy.
Hackensack police Sgt. James Prise told The Record newspaper the boy was released to his parents.
It's not known if he'll face charges.
Information from: The Record, http://www.northjersey.com