A Wisconsin infant who was abducted and left out in the cold in Iowa has been reunited with his parents and is on his way home.

Kayden Powell's mother discovered him missing early Thursday morning from his bassinet in a Beloit, Wis., home. Police found him tucked in a storage crate outside an Iowa gas station in frigid temperatures more than 24 hours later.

A spokeswoman for University of Iowa Hospitals and Clinics in Iowa City says Kayden is in good condition and was discharged from the hospital Friday evening.

Hospital spokeswoman Jennifer Brown says the nearly week-old baby is with his parents and heading back to Wisconsin.

Kristin Smith has been charged in his disappearance.

EARLIER UPDATE: Federal prosecutors have charged a Denver woman with kidnapping a newborn from a southern Wisconsin home.

U.S. Attorney John Vaudreuil filed the charge against Kristin Smith on Friday afternoon, hours after an Iowa police chief discovered the nearly week-old Kayden Powell alive and well in a plastic storage bin outside a West Branch, Iowa, gas station.

The newborn disappeared from the Beloit, Wis., house where he was staying with his mother early Thursday morning. Police arrested Smith hours later at a gas station about a half-mile from the station where the newborn was found.

Smith faces life in prison if she's convicted.

EARLIER UPDATE: U.S. attorney charges Denver woman with kidnapping for taking newborn from Wisconsin to Iowa. 

EARLIER REPORT: BELOIT, Wis.  — A missing newborn from southern Wisconsin was found alive in a bag Friday outside a gas station in eastern Iowa, law enforcement officers said.

Kayden Powell, who's nearly a week old, was discovered about 10:15 a.m. Friday by the police chief in West Branch, Iowa, said Town of Beloit Police Chief Steven Kopp at a news conference Friday less than an hour after the infant was found.

There have been no arrests in the case but police have identified a woman as a person of interest.

The chief heard the newborn crying and found the child swaddled in blankets inside a tote bag outside the gas station off Interstate 80, Milwaukee FBI Acting Special Agent-in-Charge G.B. Jones said at the news conference.

"Our efforts are clearly focused on reuniting mother and child and the rest of the family members with the child. That's the immediate focus," Jones said.

It's unclear how long the newborn was outside in the cold, Jones said. Kopp said the baby was in excellent health.

Federal, state and local law enforcement officers had been looking for the baby since early Thursday when his mother discovered him missing from a bassinette at a home in the Town of Beloit, a town of 7,500 people. West Branch, Iowa, is about 180 miles southwest of the town.

A woman who had been staying in the same home as Kayden and his mother left the residence early Thursday morning. The mother reported the baby missing later that morning.

The woman was arrested in Iowa on Thursday on an outstanding warrant from Texas. West Branch Police Chief Mike Horihan said she was taken into custody at another gas station less than a half-mile from where the newborn was found.

Investigators traced the woman's likely route of travel that led through Beloit, Illinois and Iowa, Spoden said. Authorities sent out alerts and asked police to search areas along the route.

The West Branch police chief and other officers had been checking areas along Interstate 80 for the child, Kopp said. Jones said the child's discovery was not part of a "directed" search, meaning they weren't told where to look.

"We're celebrating (the chief) as a hero today," Jones said.

Rock County and federal prosecutors are conferring on what charges to file, if any.

"This investigation," Jones said, "is far from over."

In West Branch, Horihan spoke to reporters at the BP gas station, where yellow police tape kept people away from an area on the side of the business.

"It's unique, let's just say that," Horihan said. "I have been in law enforcement for a while and nothing ever surprises me. But it's very unique and very special and I'm just glad everything seems to be fine.

"The baby seems to be doing just fine," he said.

UPDATE: BELOIT, Wis. — A 5-day-old baby who went missing from his Wisconsin home Thursday was found alive Friday in Cedar County, the Cedar County Sheriff's Office reported.

Beloit Police Chief Steven Kopp says the baby was discovered by an officer checking along Interstate 80 near West Branch.

FBI acting special agent G.B. Jones said at a news conference the officer heard the newborn crying and discovered the child swaddled in a tote bag outside a gas station. Authorities say the child appears to be in good condition.

"Our efforts are clearly focused on reuniting mother and child and the rest of the family members with the child. That's the immediate focus. In fact we're taking steps right now to make sure that happens," Jones said.

Federal, state and local law enforcement officers had been looking for the baby since early Thursday when his mother discovered him missing from a bassinette in a Town of Beloit home.

UPDATE: Police say that the missing Wisconsin newborn has been found alive in Iowa. More details as they become available.

EARLIER STORY: BELOIT, Wis. — Federal investigators have joined the search for a 5-day-old infant who disappeared from a bassinette at a home in southern Wisconsin.

The baby's 18-year-old mother called 911 after waking about 4:30 a.m. Thursday to find that her son, Kayden Powell, was missing from a bassinette in a room where she was sleeping at a home in Beloit, authorities said.

Police said Thursday night that about 40 officers from federal, state and local law enforcement agencies were working on the case, but no suspects have been identified and no have been arrests made.

The baby's mother, Brianna Marshall, and the infant's 23-year-old father, Bruce Powell, were staying at the house, Beloit Police Chief Steven Kopp said.

Investigators were questioning people who were at the house Wednesday night, Kopp told The Janesville Gazette.

Police said the infant's mother and father continue to be cooperative.

A woman who had been at the house but left around 1:30 a.m. Thursday — the last time people at the residence saw the baby — was questioned but is not a person of interest in the case, the police chief said.

Kopp told the Beloit Daily News that the woman was visiting the home Wednesday evening but left early Thursday for Colorado where she lives.

Police were able to reach the woman on her cellphone, and she pulled off Interstate 80 in West Branch, Iowa. Authorities took Kristen Smith of Denver, Colo., into custody at a Kum and Go on an unrelated outstanding warrant from Texas.

Kopp,said that while Smith was arrested on a warrant not related to the missing child case, police wanted to talk with her about the missing baby.

Smith is half-sister to the baby's mother, and the baby was not with her, according to Kopp.

Smith is being held at the Cedar County Jail on charges related to a Texas felony warrant, according to the Cedar County Sheriff's Office.

A related criminal complaint filed by West Branch Police said Smith is accused of tampering with government records and fraud in Texas

The incident is not believed to be a custody dispute, Kopp said. An Amber Alert was not issued because the disappearance doesn't meet the criteria, he said. The FBI and Wisconsin Department of Justice are assisting with the investigation.

Police were still at the house Thursday evening. Authorities kept media away from the small A-frame home.

The Beloit, home to about 7,700 people, is about 50 miles south of Madison near the Illinois border.