Two teenage boys chased a man in a car around a Pennsylvania neighborhood on their bicycles after recognizing a little girl inside who had been missing for two hours, according to police.

The young girl's family members told NBC’s Lancaster affiliate WGAL that a 5-year-old girl was playing in the front yard last week when she disappeared. Police arrived with K-9 units, blocked off the streets and described the girl to bystanders to determine if anyone had seen her.

The teens saw a girl who matched the description in a car and began following the driver on their bicycles. One of the boys, Temar Boggs, 15, described the chase to WGAL, “Every time we would go down the street, he would turn back around, and we'd go back and follow him."

Eventually, the driver let the little girl out of the car a half-mile away from her home and drove away.

"It is possible that this individual saw the boys following him. So, it is possible he got nervous,” said Sgt. Jeff Jones of the Manheim Lancaster police department.

On Monday, the Lancaster County district attorney identified a registered sex offender, Harold Herr, as a person of interest in a potential kidnapping case, according to WGAL.

The girl's family expressed immense gratitude for Boggs’ actions. “He's our hero. I mean, there's no words to say," said the girl's grandmother.

When the girl was returned to family members, they said she was doing "well," WGAL reported.

"I just feel like I did something very accomplishing today," said Boggs in response to all of the attention.