A missing South Auckland teenager and his dog Ziggy have both been found safe and well in the North Shore this morning.

Stephen Singh-Heatley had been missing from his Ōtāhuhu home since Monday morning.

Police say he was found a short time ago in Torbay along with Ziggy.

His mother Rowena Singh said the family were "over the moon" that their boy was safe.

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While he was missing people the family did not even know had been contacting them to help and were looking for the 17-year-old, she said.

"We just want to thank everyone who has had us in their prayers and who have been looking for Stevie," Singh said.

A police spokesman said police would also like to thank the public for their assistance.