Two-year-old Richard has been found safe and well after he went missing when he was accidentally put in the wrong car on Thursday afternoon.

The car was parked at Chicken Treat on Doric Street in Scarborough at around 2.40pm when he was accidentally put inside by his aunt.

Richard. Credit:WA Police

The car was then driven away by a woman believed to be in her 50s.

It's understood the woman then parked in the driveway of a Doubleview home not realising Richard was in her back seat, and left him alone in the car for just over an hour.