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Chelsea O'Donnell, Rosie O'Donnell

Rosie.com; Getty Images

Rosie O'Donnell and Chelsea O'Donnell are together again!

After the former View co-host announced on Twitter that her 17-year-old daughter had been found alive after disappearing in New York City, the pair was able to reunite in a peaceful matter.

"The reunion was without incident, there was nothing notable that happened," police confirmed to E! News. "Rosie was relieved that Chelsea was home and that her welfare was fine."

Officers who were present also described the reunion as "vanilla" and "neutral" without any hostility. 

While the reunion didn't take place until around midnight Wednesday morning, police say the delay was simply because Chelsea was located two hours away from home and officers had to transport the famous daughter to her residence.

News of Chelsea's disappearance first hit the press when her mom posted an emotional blog post Tuesday morning. Rosie revealed that her daughter was last seen on Aug. 11 and authorities had been searching for her since Sunday.

"Chelsea has a large tattoo on her right side of a dream catcher with the word ‘Breathe.' She left home with her 6 month old therapy dog named Bear," the comedian wrote online. "The dog is a 9 lbs brown and black terrier." 

The post continued, "Chelsea stopped taking her medicine and is in need of medical attention. Any information please contact authorities at 845-358-0206 or 911." To make matters worse, the teenager didn't have her phone at the time of her disappearance.

Thankfully, police were able to locate both Chelsea and her dog in New Jersey after a third party contacted authorities.

"Rosie wants to thank everyone for their help, especially the South Nyack, NY and Barneget Light, NJ police departments," the comedian's rep shared in a statement to E! News. "Her daughter Chelsea O'Donnell has been located by the police and is safe in their custody."

—Reporting by Holly Passalaqua