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The search for a 23-year-old Boston woman ended on Tuesday afternoon after she was found alive, according to Boston police.Police said Olivia Ambrose was found in an apartment at 49 Walford Way in Charlestown. She was taken to Massachusetts General Hospital to be evaluated and was able to return to her family home in Wenham Tuesday night."We are beyond happy to have Liviy home," said her mother, Heather. "It's amazing. The Boston Police Department, as were the MBTA, the transit police, everybody. They couldn't have done more and we just want to say thank you. You can't describe it really, but just a huge relief, obviously."In addition, the family issued a public statement early Tuesday evening."The Ambrose family is so grateful for the monumental efforts of the Boston Police Department, and the MBTA and Transit Police who have worked tirelessly over the last three days to bring Olivia home," said Gina Addis, a spokesperson for the Ambrose family. "They also want to thank all of the staff at Hennessy's Bar who have been so helpful since Olivia went missing."The Ambrose family is also so appreciative of all the efforts, prayers and good wishes of their friends, family and complete strangers who have helped in the efforts to find Olivia. And finally, they want to thank Olivia's co-workers at Toast who sprang into action and were instrumental in getting the word out. The family is overjoyed."Boston Police Commissioner William Gross said she appeared to be in good health, but could not attest to her state of mind.“I can’t thank the public enough," Gross said. "The Ambrose family -- you never gave up on your sister, your daughter, your loved one -- and the people of Boston never gave up either. As not only did they send us every tip possible that we had to vet, but words of comfort and support.” Police placed 38-year-old Victor Pena into custody and he has been charged with kidnapping.Sources told 5 Investigates that, in 2009, a woman told police that Pena was stalking her at the Downtown Crossing MBTA station. Pena followed her onto the train and followed her again when she got off, the woman said.Two other women also complained about Pena’s behavior at another MBTA station.No charges were filed as a result of those incidents.Ambrose had not been seen since she left Hennessy's Bar, on Union Street, at approximately 11:04 p.m. on Saturday, the family said. Boston police said that a missing person report was filed Sunday evening.Ambrose was with her twin sister, Francesca, and friends at the bar."I went to her apartment and she hadn't been there," Francesca Ambrose said. "It was set up for her to come home, with pajamas on the bed and everything."Family said Ambrose is originally from Wenham but recently moved to Jamaica Plain.Boston detectives met with the family at the bar Monday, where they reviewed surveillance video to look for clues.Police said Ambrose was captured on surveillance cameras walking on Congress Street when she was engaged by two men. One of them was identified as Pena, while the other has not been identified.According to police, Pena was observed engaging Ambrose on Congress Street, physically guiding and holding onto her on two occasions.“It’s obvious from the video surveillance that she did not go along willingly," Gross said. "She wasn’t in a physical state to possibly acknowledge going along with Mr. Pena.”Police said the two entered public transportation and were caught on surveillance camera at multiple locations. They were seen at Bunker Hill Community College, then near Bunker Hill Mall and then near Green Street before being seen heading toward the Bunker Hill Housing Development, according to Gross.Sources told 5 Investigates that police believe Ambrose got off the MBTA in Charlestown at Community Station around midnight with an unknown man.Police said that the ensuing investigation led them to 49 Walford Way, the location of Pena's apartment. Ambrose's phone was pinged at Corey Road and Walford Way, sources told 5 Investigates.Police said they knocked on the apartment door and Pena eventually opened it. That is when police saw Ambrose, standing near Pena.According to Gross, officers were able to separate Ambrose from Pena, and then apprehended him.Gross said an investigation is ongoing and additional charges may follow after police interview Ambrose.Pena is scheduled to be arraigned in Charlestown District Court on Wednesday.Gross said they hope to identify the other man who was with Pena when he encountered Ambrose on Congress Street. Gross said that the unidentified man could be a suspect or a witness.Anyone with more information should call 911 or Boston police detectives at 617-343-4248.