The young Orem mother who had been missing for three weeks after leaving home on a spontaneous camping trip returned home Tuesday — just hours before her family had planned to host a candlelight vigil for her.

New Mexico police officers reported finding Sarah Jensen, 31, "alive and well," after identifying her during a routine traffic stop.

After officers pulled Jensen over and ran her license plate and identification, they noticed she had been flagged as a missing person.

"Officers contacted Orem PD and confirmed that Jensen was traveling through New Mexico of her own accord," said a news release from the Orem Department of Public Safety. "Police officers said Jensen appeared to be in good spirits and good physical condition."

Because Jensen had not broken any laws, she was not arrested.

According to a family-hired private investigator, Marquita "Marki" Davis, Jensen returned home Tuesday.

"She said she was fine," Davis said. "And I can confirm that she left on her own will."

Jensen's family and boyfriend have not returned phone messages requesting more detail on the family's search effort and Jensen's ultimate whereabouts.

Jensen left for a solo camping trip May 25 to clear her head after "some emotional stress," her boyfriend Drew Alexander told the Deseret News a week after she went missing.

E-MAIL: jhancock@desnews.com