TAVARES, Fla. — Officials in Tavares are looking for a 5-year-old boy named Jace Saunders, deemed missing and endangered on Sunday.

The Florida Department of Law Enforcement issued an AMBER Alert overnight for the missing boy, who authorities say may be in the custody of his grandmother, Kelly Dasilva.

Law enforcement believes he was taken by family unlawfully during a Department of Children and Families investigation. Police had responded to a home on Tara Drive Sunday afternoon to remove the boy from a relative's custody, but said he was not home at the time. 

Police later learned that Jace was with a family friend, Mitchell Morris, who they believe handed the child over to his grandmother at a nearby park. 

They said Jace was last seen on the south side of Tavares in the area of Summerall Park.

Mitchell has been arrested and charged with interference of child custody, police said. Jace's parents, Taylor Judy and Brandon Saunders, are also charged with interference of child custody for failing to cooperate with the search, according to officials.

Dasilva has an active warrant in Lake County for kidnapping and interference of child custody. Authorities believe she may be driving a black Honda Accord or passenger car. 

Police said Jace is approximately 3-feet tall and was last seen wearing dark blue pajamas with a graphic design on the front. He is also semi-verbal and diagnosed with autism.

Dasilva is just over 5-feet tall and weighs 120 pounds with brown hair and eyes. 

The Tavares Police Department asks anyone with information regarding the boy's whereabouts to contact the agency immediately at 352-343-2101 or 911, and reference the case number T24120625.

Police say to not approach the pair if you locate them.