The teenager had last been seen on Aug. 11 in Nyak, New York

Credit: Getty; Courtesy Rosie O'Donnell

Rosie O’Donnell’s 17-year-old daughter Chelsea has been found safe several hours after she was reported missing in New York.

“Rosie wants to thank everyone for their help, especially the South Nyack, New York, and Barneget Light, New Jersey, police departments. Her daughter Chelsea O’Donnell has been located by the police and is safe in their custody,” her rep told PEOPLE.

The talk show host also Tweeted out: “chelsea has been found and is safe in police custody – thank u all for the help and light #missingchildren”

O’Donnell announced on her blog Tuesday afternoon that Chelsea was last seen on Aug. 11. Police had searched the Rockland County, New York, area for the teen since Sunday.

“Chelsea, like millions of people, lives with mental illness,” Cindi Berger, O’Donnell’s representative, told PEOPLE. “It has been a difficult road for Chelsea and her family and they just want her back safe.”

Berger added: “[Rosie and Chelsea] have a good relationship. Rosie loves Chelsea very much.”

A source tells PEOPLE that O’Donnell did not report the teen missing until Sunday because she thought Chelsea was with friends. The source added that Chelsea had no money and no phone.

According to authorities, Chelsea left home with her therapy dog called Bear.

Chelsea stopped taking her medicine before her disappearance, according to Berger. The family is urging anyone with any information of her whereabouts to contact authorities.

The mother-of-five shared photos of Chelsea and her dog on her Facebook and Twitter accounts.

Sgt. Daniel Wilson with South Nyack police told CNN that the family contacted authorities on Sunday to report that Chelsea had not returned home. The family told police that while they had not seen the teen since last week, they had been in contact with her, he said.

Wilson added to CNN that Chelsea has not officially been classified as “missing” but an investigation is underway.

Chelsea is O’Donnell’s adopted daughter from her marriage to Kelli Carpenter-O’Donnell (the two are also the parents of Blake and Vivienne). Carpenter-O’Donnell retweeted the star’s posts about Chelsea and shared a photo of the teen on her own Facebook page, showing Chelsea in a pink dress.

In February, O’Donnell announced her split from Michelle Rounds, the two are the parents of the comedienne’s youngest child Dakota. Around the same time, the 53-year-old announced her departure from The View, a move she says she made in order to focus on her health and her family.

“There’s lots of stuff going on at home and there’s lots of stuff going on at work,” O’Donnell admitted. “The only thing I can really control is the work, by leaving.”