SMITHVILLE, Mo. -- A missing 8-year-old boy has been found at Smithville Lake, KCTV5 has learned.

Authorities said Travis Covey was found safe shortly after 12:30 on Monday and reunited with his mother a short time afterward.

Travis had not been seen since leaving home around 4 p.m. Sunday, after getting into a family argument. The boy was last seen wearing red boxer shorts.

The boy was found by a neighbor standing in her driveway. The neighbor recognized the boy's photo from television and got him to come into her house for some milk and cookies.

The woman gave him a shirt and called police to tell them she had found the boy. Authorities said Travis had spent the night in a neighbor's van near his house.

Clay County and Smithville police had set up a command post on Route DD, near the lake to search for the boy..