Police inspector S V Dighe of the Ambarnath police station told PTI that between Saturday and Sunday the boy Raja Arvind Sharma was picked up from near his house in Vadlegaon.
His father Arvind Sharma lodged a complaint with the Ambernath police and named a couple of alleged abductors identified as Chanu, Gopal and others.
The Ambernath police registered an offence under Section 363 read with Section 34 of the Indian Penal Code and began searching for the boy who returned in the evening on Sunday.
Raja was picked up, beaten up and held captive at Titwala due to some old feud.
The police is probing the case.