Herbert "Nobby" Bartlett was found alive in Maitland after almost four days in the elements.
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The elderly man, 86, was found in the back paddock of a property on Bonar Street, Maitland, shortly after 10.30am yesterday.
His family were happy he had returned, but now have worries about his health.
"It is very good to have him back," his daughter Colleen Wilson said.
"We are still worried about him but we are happy he is back with us."
A police dog, called Ulric, located the man missing from Maitland Hospital during a search operation on Thursday morning. He was hidden in long grass and was suffering exposure after the ordeal.
Mr Bartlett was taken by ambulance to Maitland Hospital and is undergoing tests to assess his condition.
Mrs Wilson said her mother Gloria, whose heartfelt plea to bring her husband home touched the hearts of many across Maitland, was just taking everything in at this point but was happy Mr Bartlett was safe.
"We couldn't thank the community enough, the SES, the police and especially everyone on Facebook who didn't even know him but still shared the information," Mrs Wilson said.
Mr Bartlett had been missing since Monday after leaving Maitland Hospital where he was recovering from a stroke.
He is unable to speak or communicate and has spent the past six weeks in hospital on medication.
Earlier this week police, Mr Bartlett's family and hospital personnel launched a city-wide search for the man.
Thursday's search included officers from the Central Hunter Local Area Command, Newcastle Police Rescue, Hunter Region SES and the Dog Unit.
Dog Unit officer, Senior Constable Dave Wynn, and his dog Ulrich were the ones to find Mr Bartlett lying in the long grass.
Ada Gibson owns the paddock where the elderly man was found.
"I could not believe it," she said.
"I had been down there with the police yesterday. I am just so pleased he was alive."
The area of Ms Gibson's property where Nobby was found is bounded by a fenceline and railway tracks.
The property slopes downhill and is covered in very high grass, which made it difficult to see the man.
"We are very much pleased to have located him," Central Hunter crime manager, Detective Inspector John Zdrilic, said.
"We would have liked to find him sooner.
"But as hope was fading, there was still hope and it is very fortunate for Nobby and his family that we found him."
Detective Inspector Zdrilic said police dog and hero Ulrich has since been deployed back to Newcastle.
Maitland's police dog Marco was used in a search yesterday, but was injured in the line of duty by a horse and could not participate in Thursday's search.