Courtesy Alan Rosenfeld
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April 15, 2015 01:00 PM

More than 10 years ago, Scott Kelley and his family disappeared without a trace. On Monday, Kelley – and his stepdaughter Mary Nunes – walked into the U.S. Embassy in Costa Rica and he turned himself in.

“It was time to come home,” Kelley, 50, exclusively tells PEOPLE.

Kelley’s wife Genevieve returned to New Hampshire last year after disappearing with Scott and her daughter in 2004.

The story made national headlines after Genevieve fled to Central America with her daughter Mary, who accused her father, Mark Nunes, of sexual abuse. The state investigated, but Nunes was never charged.

Genevieve was charged with non-custodial kidnapping and unlawful flight to avoid prosecution, according to a press release from the U.S. Justice Department. After returning to New Hampshire and being released on bail, she is currently awaiting trial, which is expected to begin May 8.

Meanwhile, Mary, now 19, has also returned to the United States and is living in an undisclosed location.

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