Authorities say an armed male suspect approached Vi Ripken at her residence and forced her into her vehicle between 7 a.m. and 8 a.m. Tuesday.
Then police received a call at about 8:30 p.m. about a suspicious vehicle in the Ebenezer Road area, which lead to the search for the mother of the Hall of Fame infielder.
Vi Ripken was found unharmed in her vehicle near her residence in Aberdeen, Harford County, Md., around 6:15 a.m. Wednesday, police said. She was evaluated on the scene and refused medical treatment.
"This has been a very trying time for our family, but we are grateful and relieved that mom is back with us, safe and healthy," the family said in a statement. "This is on ongoing investigation, so we hope everyone understands that we cannot comment further at this time."
Police say they are looking for a white male in his late 30s to early 40s, last seen wearing a light-colored shirt, camo pants and eye glasses. Anyone with information is urged to call the Aberdeen Police Department at (410) 272-2121.
The Associated Press contributed to this report.