DALLAS, Texas - A 10-year-old boy who was taken during an armed home invasion has been reunited with his parents after a frantic search in Dallas.

Police say a passerby saw Nicholas Fierros, Jr. on Ann Arbor Avenue and Frio Drive, about five miles from his aunt's home where he was taken. Fierros was staying at the home with his aunt and uncle for a summer visit when relatives say three masked men armed with guns kicked in the door of the residence.

"I was so scared," said Janet Cabrales, a 14-year-old teen who was in her room when the men broke into the home. "I didn't know what to do."

Cabrales hid in her closet and called 911.

"And out of nowhere I just hear them coming into my mom's room and my dad's room," she said. "And I just really didn't know what to do."

The teen said she heard the men ransack the home and demand money. Relatives said the three men who barged into their home wore masks and were dressed in all black.

Cabrales said she heard one of the men yell out, "Hey, grab the boy; the cops are coming."

That's when relatives say the men grabbed Fierros and wrapped him in duct tape before they fled the scene with the child.

"I just heard him crying," Cabrales said. "And I was like, 'Oh my God. He didn't hide.' And I kind of felt bad because I didn't tell him to hide or anything."

The teen said Fierros was watching a movie with his cousin when the men broke down the door to the home.

Police say they were first alerted to the home invasion when they were called to the home in the 800 block of Buick Avenuein the Cedar Crest neighborhood at about 12:30 p.m.

Family members said the aunt was pistol whipped when the men demanded money and they were unable to find cash.

"We have some parents and relatives who are desperately concerned about finding the whereabouts of Nicholas," said Deputy Chief Malik Aziz during a press conference before the child was found safe.

Authorities say Fierros was taken to the Dallas Child Advocacy Center, where he was interviewed about the incident before he was reunited with family.

"I actually feel pretty good now that he's here with us," Cabrales said. "I'm actually pretty thankful for everybody who prayed for Nick."

Fierros' father owns a construction company and police are looking into the possibility that the robbers may have known he sometimes carries cash.