LAKEVILLE, Minn. - Police have located a Lakeville family that's been missing since Thursday.

A spokesperson for the Minneapolis police department says someone spotted the car they believed was being driven by 38-year-old Zachariah Wilson around 3:15 a.m. on the 2800 block of 26th Avenue South. Authorities surmised that Wilson was with the mother of his children, Angela Robinson, 33, as well as their children, Nolan Wilson, 7, and Myles Wilson, 4. Because police have been unable to locate them, they were concerned for the welfare of the children.

When police ran the license plate, it came back as the missing car. Police pulled the car over and found Wilson, Robinson and the children. They were brought to the police station. Police say it appeared that everyone was OK and uninjured.

Both parents were booked into the Dakota County Jail for probable cause child endangerment.

The case is now at the Dakota County Attorney's Office for review and formal charging.

Wilson borrowed a car from his mother on Oct. 20 after saying he would pick her up from work. He never did. Investigators say Wilson then spoke with his mother on the morning of Oct. 21 stating he would be back in a few hours. But he never showed.

Police say they are looking into financial transactions in St. Paul and Burnsville over the weekend which could be linked to someone in the family.