Derbyshire Constabulary had issued an urgent appeal to find Daniel Smith who requires medication.
He was last seen at 5pm on Thursday, May 5 - however he was spotted on CCTV leaving his address in Applewood Close, Belper, on a bike at around 7.55am on Friday morning.
In an update yesterday, police confirmed the 51-year-old has now been found.
The force thanked everyone who helped by responding or sharing their appeal to find him.