LAKEVILLE, Minn. - The parents of two children who went missing late last week have been charged in the case.

Dakota County Attorney James Backstrom announced Thursday that Zachariah Daniel Wilson, 38, and Angela Dee Robinson, 33, both of Lakeville, Minnesota are charged with one count of theft and one count of child neglect.

Police located the Lakeville family -- Wilson, Robinson and their two kids, ages 4 and 7 -- early Tuesday morning, after they had been missing since last Thursday.

Authorities put out a missing person alert on Monday after Wilson's mother called police to report her son borrowed her car, said he would be back in a few hours but then never showed up. After several unsuccessful attempts to reach the family, police issued a BCA crime alert with a description of the vehicle and the family, due to concerns for the wellbeing of the children.

According to the criminal complaint, Robinson has a history of drug abuse and Wilson is currently on probation for terroristic threats.

Lakeville police officers spoke with family members who said it was unusual for Robinson to disappear and not call. They also said they were concerned for her, because Wilson has been physically abusive in the past and Robinson has been seen with black eyes, according to the complaint.

A friend of Robinson's also told police that one night several months ago, Wilson was intoxicated and told his 7-year-old son that he was going to kill their entire family and would make the child watch it, according to charges.

A week before the family went missing, Wilson allegedly changed his Facebook status to "widowed," and had made comments that if Wilson can't have Robinson, no one can.

Police attempted to track Wilson and Robinson's cell phones but were unsuccessful. On Sunday night, Robinson sent an email to a friend saying, "I am okay, I'm alive, and kids are fine. Lost phone and forgot FB password saying I'm fine."

On Tuesday around 3:15 a.m., a delivery driver saw the missing vehicle on the 2800 block of 26th Avenue South and called authorities. The driver reported seeing a man wearing a ski mask, sunglasses and gloves, believed to be intoxicated, dancing around the vehicle.

When police arrived and ran the license plate, it came back as the missing car. Soon after, all four family members were located and brought to the police station. Everyone was OK and no one was injured.

During a search of the vehicle, officers found a syringe in the center console of the car.

Police interviewed the 7-year-old who said they had been driving around for days. Authorities say the boy's clothing was filthy and he had not bathed for five days. He told a social worker sometimes they went without breakfast, lunch or dinner.

Both Robinson and Wilson made their first court appearance on Thursday. Wilson's bail was set at $150,000 without conditions and Robinson's bail was set at $75,000 without conditions.