The St. Joseph Police Department sent out a text alert looking for the boy and called in every officer on duty to drive around looking for him.
The fire department and neighbors also joined in by walking around the neighborhood.
Just after 6:00 p.m., a driver on Frederick Avenue, several blocks away from where he went missing, reported seeing the boy and called police.
Officers say a quick response and social media helped find the boy safely.
"That's one of the good things about social media," said Tyler Peters, an officer with the St. Joseph Police Department. "If the message gets out, that means a lot of people in St. Joe know about it and that helps us out at the end I think, I think its a really good thing."
Police say it was important to find Ben quickly since he is autistic.
The department also called out the CART team, which is a group of detectives that respond to child abductions.
The family picked Ben up themselves after getting the call that he was found safely.