Samson would have family, friends and associates who knew his movements and could help police in locating him.
Mr Manunui said: "I would encourage family, friends or associates of Samuel to come forward and let the police know where he is. We have no immediate concerns for the safety of the girl but the sooner we can speak with Samuel the sooner this matter can be resolved".
Police encouraged family, friends or associates to contact Taupo police station on (07) 378 6060. Information can also be provided anonymously to the organisation Crimestoppers on 0800 555111.
Samuel Samson is described as male, Maori, aged 31 years, 178cm tall and of thin build. It is also possible he has his rottweiler dog with him.
Police urged Samuel to take his daughter to the nearest police station "in order to resolve this situation in the best interests of all parties".