Malcolm Whitman was last seen around 6:30 p.m. at a Walmart on 38th Avenue and Quebec Street in Stapleton.
"Late last night, Mr. Whitman located and returned to his family. Thanks for everyone's help," Denver Police tweeted Monday morning.
Police were worried because he reportedly suffers from Alzheimer's disease.
He was driving a 2001 blue Ford Focus four-door with Colorado license plate 291-FCJ.
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