The child's grandmother contacted police and at about 11:30 p.m., the boy's family picked him up at the 3rd Precinct.
Ushers found the 2-year-old at the conclusion of Sesame Street Live at 8:30 p.m. Friday.
The boy was in a large group of about 10 children when the grandmother "lost the headcount," said Officer Rogers of the 3rd Precinct.
Making things more difficult for police was that the child could only say his name, which is believed to be Damon.
The boy was brought to the 3rd Precinct located at 7310 Woodward.