MILWAUKEE (CBS 58) -- Authorities say two people are in custody after allegedly taking two young children from Bay County, Florida to Milwaukee without the knowledge of the children's mother. 

The Bay County Sheriff's Office says 18-year-old Adalyn Burkett and 22-year-old Marquan Edwards of Milwaukee were arrested for taking the children, and their mother's vehicle, without permission.

According to the sheriff's office, Burkett was a friend of the children's mother and was supposed to be babysitting overnight the evening of June 23.

The mother told authorities she allowed Burkett to use her vehicle for the night, with the understanding that Burkett would return the vehicle the morning of June 24.

The sheriff's office says upon contacting Burkett, the mother learned she was no longer in Bay County and had left the state with both children and the vehicle.

An investigation began, and authorities learned Burkett was accompanied by Marquan Edwards, traveling from Panama City to Milwaukee overnight.

A Missing Child Alert was issued by the Florida Department of Law Enforcement for 2-year-old DeKarsen Middleton and 1-year-old Delyla Middleton on June 25. 

When the suspects learned of the alert, officials say they dropped off both children in a public park in Milwaukee. 

The children were located that evening by Milwaukee police and taken to their police station. 

Burkett and Edwards were arrested at a residence in Milwaukee on June 26.