Wilson says police have arrested the man that was with her, a 19-year-old Columbia, Missouri man. Hailee met him online and left with him on Friday.
Country Club police are on their way to Chillicothe to pick her up and bring her home.
Wilson says they may take her to the hospital for a standard check-up to make sure she is okay.
Hailee, 16, went missing on Friday evening after visiting a friend in St. Joseph.
Hailee suffers from Aspergers and Tourettes and the family says she has not taken her medication.
"I just want to know she's safe. I don't care if whoever has her they just take her to a police station, or take her somewhere, let her use a phone, let us know she's safe," David said before she was found. "That's our main concern is that we know our little girl is safe and how to get her back home."