BOSTON -- An autistic teen who has been missing for two days has been found and is in good condition.

Andrew Grant, 15, was found safe near a wooded area in Norfolk, Mass., after a number of people reported seeing him in the area.

"He was found in the same general area where he was found before. No too far from our home -- a couple of miles. He never gave me much of an explanation before, but he is in good condition and is on his way to a local hospital. We are very, very relieved," said Andrew's grandfather, Richard Grant.

Andrew was the subject of an extensive search in late August after he wandered off barefoot from his grandparents' home. He was found in the woods six days later, badly dehydrated.

Police and social service workers said that they want to figure out a way to keep him safe in the future. One possibility would be to equip him with an electronic tracking device that would pinpoint his whereabouts if he got lost.