BREVARD COUNTY, Fla. — A Titusville mother and her two children are safe after being kidnapped at gunpoint late Tuesday night, prompting law enforcement officials to issue an Amber Alert.

• Investigators: Man kidnapped ex, his children at gunpoint
• Loyd Burson of Daytona Beach facing slew of charges
• Amber Alert was issued for woman and 2 young children

The Amber Alert was issued just three hours before law enforcement agencies found them and took a suspect into custody.

"It is an excellent feeling to know that they're OK," said Phyllis Martin, the children's grandmother.

Martin said 35-year-old Lloyd Burson of Daytona Beach, who is the children's father, just got out of jail four months ago. Volusia County Corrections records show that happened in July.

Just before midnight Tuesday night, Titusville Police say Burson entered the 1000 block of 3rd Avenue.

"She was abducted by the children's father at gunpoint," said Amy Matthews of the Titusville Police Department. "The victims were put into a blue SUV and were headed north on I-95."

An Amber Alert was issued by the Florida Department of Law Enforcement to notify the public to be on the lookout for Burson, Melanie Martin, and the two children they have together, 5-year-old Angel and 3-year-old Lloyd.

Police found them at a Daytona Beach home at about 5 a.m. Wednesday, where he was arrested.

"(I got) no sleep at all," Martin said. "But that's part of being a mother and a grandmother."

Burson is facing a slew of charges, including aggravated assault with a firearm, battery, domestic violence, parole violation, and kidnapping.