MADISON, Wis. -- A 50-year-old woman who went missing last week is alive and well after being found Wednesday afternoon at a boat landing in northern Wisconsin's Vilas County.

Sheriff's officials in Vilas County said Francine Tate was found at about 3:20 p.m. at a landing in the Town of Phelps. Warden Timothy Price of the state Department of Natural Resources located her, and she was taken into protective custody before being returned to her family. Her car was recovered at the scene.

Elise Schaffer of the Dane County Sheriff's Office said earlier Wednesday that Tate was alone in her car when found.

Schaffer said Wednesday that investigators still don't know what prompted Tate to vanish after attending a prayer meeting at her Madison church on July 17. Schaffer said on Thursday that Tate has returned to Dane County.

Schaffer said that after interviewing Tate, detectives were confident that she left the area on her own autonomy. She said there will be no criminal investigation and no charges will be issued.

The family said that Vilas County was not an area on the search team's radar in the past week, WISC-TV reported. The family said that much of the search effort was spent on areas that friends and family said the Tates often visited, and Vilas County is not one of those areas.

The family said Wednesday that they are preparing a celebration for Tate's return to the area.

"Words cannot even explain how well we are feeling right now. There are just not words -- it's just not even possible," said Stephanie Thompson, Francine Tate's niece.

"It's like a huge weight has been lifted. You feel free and loose, and man, it's outstanding," said Dee Thompson, Francine Tate's brother-in-law.

Volunteers and well wishers flooded the search headquarters Wednesday afternoon and rejoiced at the news.

"We were still focusing on finding Fran, sending out e-mails, getting the words out. And we got that phone call and instantly everybody is just rejoicing," Stephanie Thompson said.

And while many questions remain to be answered, Tate's family said the most important thing is that she has been found safe.

"You know I really haven't had time to stop and think about it, and at this stage of the ongoing process, it doesn't matter. She's alive and safe and in good hands," Dee Thompson said.

"It's just great to know that Fran is safe and coming home," Stephanie Thompson said.

Tate's church pastor, Dave Bechtold, said he can't wait to give her a hug.

The day before she disappeared, Tate and her husband had taken in a homeless stranger in their home through their church. Authorities had called that man a person of interest in her disappearance. But Schaffer said investigators found the homeless man in Minnesota on Wednesday and believe he has nothing to do with the case.

Stay tuned to WISC-TV and Channel 3000 for continuing coverage.