UPDATE: Donald Miller, 81, was found in Sibley, Iowa. Sioux Falls Police say he is doing well and waiting for family to arrive.

9:42 p.m.

Sioux Falls police are asking for help looking for a missing person.

Police say 81-year-old Donald Ray Miller was last seen around 2:30 Thursday afternoon when he left his home on the northeast side of town.

Miller is 5’9” tall and weighs 180 lbs with white hair and blue eyes. He was last seen wearing a plaid shirt and a No. 3 Dale Earnhardt baseball cap.

He is driving a tan 2005 Cadillac Deville with South Dakota plates 1K9 640. Miller suffers from Alzheimer’s and other medical issues.

Anyone with information is asked to contact police.