Julio Gil and Jocelyn Salina, 17, hadn't been seen since they were on the porch of a Clayton home Wednesday.
Salina told police that she and Julio left the house Wednesday night with her boyfriend, and they ended up spending the night at another friend's house.
Police put up missing posters around Clayton and called the Center for Missing and Exploited Children for assistance.
Salina's friend saw news reports Thursday morning that Julio and Salina had disappeared, and the teen and the boy returned home.
Julio's parents said Salina had no right to take their son with her.
"I couldn't even go to sleep. I was waiting for her to call me and tell me, 'OK, I'm here,'" said Julio's mother, Arleny Gill.
Salina could face criminal charges in the case, police said.
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