Amanda Hull, 38, sparked a huge search operation by police, relatives and friends when she vanished after riding her horse on Saturday. West Mercia Police confirmed she had been reunited with her family but gave no further details.
One neighbour said: “Her mum is just so relieved.
“She was a nervous wreck, as you’d imagine, we were all thinking the worst. So she’s over the moon to have her daughter back safe.”
The family were concerned for her safety after she failed to return to her home in Droitwich, Worcestershire.
They feared the worst when the horse was later seen in its field and Amanda’s bag and phone were found nearby.
Relatives had described Amanda as “extremely vulnerable with special needs”.