The Chariton County Sheriff's Department says Rachel Koechner, 28, and her 4-year old daughter were found unharmed in Linn County late Monday night.
Koechner is being held in the Chariton County jail for allegedly fabricating the abduction.
On Monday, authorities were able to trace Koechner's cell phone to a motel in Blue Springs but couldn't find her, leading them to believe the pair was with the girl's father, Devon Sandner. Authorities say Sandner had made threats to do physical harm to Koechner in the past.
Sandner was not charged in the incident but was taken into custody on an outstanding forgery warrant. The child was placed in state custody.