An inmate who failed to return to the Pima County Jail after being given approval by a judge to leave temporarily, was found Sunday evening.

Superior Court Judge Brenden Griffin ordered Robert Nelson, 51, be released from custody temporarily, Deputy Jesus Bañuelos, spokesman for the Pima County Sheriff's Department, said in a news release.

He was released to his girlfriend at 7 a.m. to attend an appointment, but failed to return to the jail by 4 p.m., per the court order. 

Nelson was found hiding in a home in the 3900 block of West Valencia Road after deputies received an anonymous tip about his whereabouts, according to a news release.

He was taken to the Pima County Jail and booked on an escape in the second degree charge. 

Nelson, a pretrial defendant, was being held on charges of aggravated DUI/driving on a revoked or suspended license and a failure to appear in court for aggravated DUI in 2012, Bañuelos said.