SPRINGFIELD, Ohio -- A Champaign County toddler is home safe after a dramatic 24 hours.

Jacob Lucas, 2, was reunited with his mother at the Springfield Police Department on Saturday night. Officers arrested his father on child endangerment charges.

An Amber Alert was issued after the boy's father, Christopher Lucas, took him Friday night.

Authorities were worried about Lucas's mental state. His wife told officers that he was not taking his medication for a mental illness.

Springfield police said a citizen who saw the Amber Alert called police when he saw Lucas's minivan on Limestone Street before 9 pm.

Officers quickly responded to the scene and took him into custody.

Jacob was asleep in the backseat, reportedly buckled in a carseat.

Officers said they are thankful the Amber Alert system worked the way it's supposed to.

Sgt. Michael Kranz said, "The Amber Alert was broadcast over radio and TV and it worked like it was supposed to. This is the first time I've worked with one and I'm glad it worked the way it was supposed to work."

Christopher Lucas was booked into the Tri-County Jail Saturday night on child endangerment charges.