81-year-old Sudarshan, who is believed to be suffering from dementia, had lost his way and was later found taking rest under a tree after being exhausted on the road leading to Lalith Mahal helipad, RSS and police sources said.
Earlier, the complaint by his brother Ramesh, with whom he was staying for the past three days, created a scare, with police and RSS volunteers launching a vigorous search for him.
The RSS had also, in a statement earlier, stated that Sudarshan was missing, saying he went for a walk and did not return.
Sudarashan had left for the morning walk alone at 5.20 AM.
Acting on the complaint, the police had formed 20 teams to trace Sudarshan. RSS Swayamsevaks had also joined in the vigorous search operations.
Sudarshan hails from Kuppahalli village of K R Pete taluk of Mandya District in Karnataka. He served as RSS Pracharak for six decades. He became RSS Sarasanghachalak in 2000 and held the post till 2009.
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After retiring from the post of RSS chief, Sudarshan had been living in Bhopal
Earlier Madhya Pradesh Home Minister Uma Shanker Gupta had spoken to the Karnataka DGP on efforts to trace the former RSS chief.
Gupta said in Bhopal that two guards from Madhya Pradesh, who normally accompany him, were not with Sudarshan at the time he went missing.
He said the guards were in the local Sangh office when reports came in that Sudarshan has gone missing .