A man and a girl who left a home in Townsville to scout for a campsite have been found safe and well after sleeping the night in their ute.

A man and a young girl who were missing for 24 hours near Townsville have been found.

Police say the man, 32, and the six-year-old girl left a home in Lansing St, Mount Louisa, to scout for a camping site about 1.30pm (AEST) on Friday.

The pair did not take their camping gear with them and had been expected to return, but they hadn’t come back by 9pm and relatives raised the alarm.

After an extensive search involving a police helicopter, the pair were found safe and well at a camping-ground car park about 1pm on Saturday.

Police said the pair had decided to sleep the night in their ute after darkness made it difficult to find their way back.