Rosie O'Donnell's 17-Year-Old Daughter Chelsea is Found Safe

Rosie O’Donnell's 17-year-old daughter, who had been missing for a week, has been found safe.

On Tuesday morning, the comedian posted a statement to her website saying that her daughter, Chelsea, had last been seen on August 11 and authorities in Nyack, New York were looking for her.

But at 6.45pm on Tuesday, O'Donnell updated her followers with the good news that her daughter had been found.

South Nyack police said that Chelsea had been found in good health in New Jersey just before 6pm.

Police in Barnegat, New Jersey said that investigators in South Nyack had told them that they believed Chelsea was in the Jersey Shore community, the Associated Press reported.

Read: Biological Mother Claims Rosie O'Donnell Took Her Baby Illegally

When officers went to the residence, a person who answered the door initially did not want to reveal that Chelsea was there. But officers said they would not leave until she came out and Chelsea appeared, police said. She was taken into their custody without incident.

It is not yet clear what relationship Chelsea had with the people at the home.

Rosie O'Donnell's spokeswoman, Cindi Berger, said in a statement on Tuesday: "Rosie wants to thank everyone for their help, especially the South Nyack, NY and Barneget Light, NJ police departments. Her daughter Chelsea O’Donnell has been located by the police and is safe in their custody."

Berger had previously said that the teenager was living with mental illness, while O'Donnell's statement had expressed concern for her daughter's wellbeing. 

"Chelsea stopped taking her medicine and is in need of medical attention," it said, although it did not specify the type of medication she takes.

HLN host Nancy Grace told INSIDE EDITION on Tuesday that she had spoken to O'Donnell before the girl was found.

"Her voice was monotone, flat, distraught," she said. "She was on the verge of tears and exhausted."

She continued: "Here's my concern: Chelsea has a lot of learning diabilities, a lot of issues, and Rosie has been taking care of her for her whole life."

Chelsea had left home with her six-month-old therapy dog, Bear, a 9-pound black terrier.

Chelsea is one of O'Donnell's children with ex-wife Kelli Carpenter. The pair split in 2007.

Earlier this year, a woman named Deanna Micoley came forward to say she was Chelsea's biological mother.

Read: Rosie O'Donnell's Ex Fights for Custody: 'I'm Not Afraid of Rosie Anymore'

Micoley told The National Enquirer at the time: “Rosie O’Donnell has my daughter. She took her.”

Micoley claimed that Rosie illegally adopted Chelsea in 1997 when she was two months old. Micoley says she was high on drugs and Chelsea’s biological father put her up for adoption without her permission.

“l don't believe I signed my rights and if I did, I was under the influence and I never wanted to give my daughter up for adoption,” said Micoley.

She added that she didn't know O'Donnell was Chelsea's adopted mother until Chelsea tracked her down last year and they began texting.

Read: Rosie O'Donnell's Ex Says She's an Unfit Mother Who Drinks a Bottle of Wine a Day and Smokes Weed

Rosie's spokesperson said in a statement to INSIDE EDITION earlier this year: "It is awful that this woman decided to go public... Rosie LEGALLY adopted Chelsea.

"As an advocate of adoption, Rosie is grateful to all birth mothers everywhere and she hopes that the National Enquirer did not pay this woman."

On Tuesday, after the news of Chelsea's disappearance and before she was found, Micoley told INSIDE EDITION: “Please find her. I want her home with me where she will be understood and loved unconditionally. I'm so worried."

O'Donnell has four other children.

Watch Below: Rosie O'Donnell's Ex Fights for Custody: 'I'm Not Afraid of Rosie Anymore'