MADISON, Wis. -

A 74-year-old man with memory issues was found Thursday afternoon after going missing Wednesday , police said.

Steven Nelson was found just before 4:30 p.m. in the area of Nakoma Road, officials said. Police said he appeared to be in good health, but was being evaluated by medical staff as a precaution.

Madison police said two officers on mounted patrol found Nelson in brush near a wall separating the Arboretum and Nakoma Road.

Nelsen suffers from memory issues and walked away from his home in the 3600 block of Nakoma Road Wednesday afternoon, police said.