The 15-year-old boy has been found in Hudson, Wisconsin, with police saying he is safe.
Police in Stillwater are asking the public to help keep an eye out for a missing teenager.
Joseph Voss, 15, was last seen leaving his home around 11 p.m. Thursday. He was wearing a gray sweatshirt with black skinny jeans, black Under Armour shoes and carrying a black backpack. He is 5-foot-9 and 165 pounds with light brown hair and green eyes.
"Voss is autistic and is dependent on medication which he does not have with him," authorities said in a release shared by the Minnesota BCA.
Police believe Voss may be in or around Stillwater or Hudson, Wisconsin.
Anyone with information should call Stillwater Police Department at 651-439-9381