North Yorkshire Police said earlier that three-year-old Willow Watkinson had disappeared from her home in Swain Court, Northallerton.
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An urgent appeal was issued as officers flooded the area, with rescue teams and the police helicopter also drafted in to help with the search.
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In an update issued via social media, the force said: "Great news - the missing three-year-old girl from Northallerton has been found safe and well at a relative's house.
"Thanks to the thousands of you who shared our appeal to find her."