A 4-year-old girl who was abducted by her mother was found in Queens on Tuesday, a day after the woman walked out of the foster home with her.

Mia Olarte, who suffers from Down syndrome, was visiting with her mother on Monday afternoon inside the Mott Haven building of New York Foundling, a family program and foster agency, when Dora Olarte walked off with her, police said. The pair were found on Lamont Avenue in Queens on Tuesday.

Dora Olarte, 48, does not have custody of Mia, police said.

Olarte was charged with several offenses, including custodial interference, and acting in a manner injurious to a child.

It was not immediately clear why Dora lost custody of her daughter.

"The Administration for Children's Services and New York Foundling are relieved over the safe return of a young child taken during a family visit on Monday afternoon," an ACS spokesman said in a statement. "We have jointly begun to examine the incident to determine what, if any, breakdown occurred in our visitation protocols and what additional steps we can take to prevent this from happening in the future."