3-year-old Makoto Maki was found near Flushing Meadows Park, close to where he disappeared, just before midnight on Monday.
Police say he wandered away from his parents while they took pictures.
Maki was visiting New York City with his parents from Massachusetts.
Police at the scene say the boy's parents got out of their van in Flushing Meadows Corona Park to take a picture of the Unisphere. When they returned, the boy was gone.
Police and K-9 units had been looking for the boy since 5 p.m. Monday, when he was reported missing.
The boy was not hurt, but was examined by doctors as a precaution.
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