Updated

A convicted sex offender serving life without parole was recaptured in Texas on Monday after escaping jail with the help of his mother a day earlier, authorities said.

Robert Yancy Jr., 39, was captured at 8:05 a.m. in Matagorda County after two civilians recognized him at a park in Palacios, about 45 miles west of the Texas Department of Corrections’ Clemens Unit, and called police, Texas Department of Criminal Justice (TDCJ) spokeswoman Amanda Hernandez said. 

Yancy will face felony escape charges. Two others who were believed to have helped Yancy in his escape have also been arrested, according to authorities.

Yancy's mother, Leonor Priestle, was charged with permit/facilitate an escape and Russell Williams was charged with criminal intent to escape.

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Robert Yancy Jr.

Robert Yancy Jr., 39, was captured Monday morning after citizens recognized him at a park, authorities said.  (Texas Department of Criminal Justice)

Yancy escaped at about 3:38 p.m. Sunday from the Clemens Unit in Brazoria, where he was serving a life sentence without parole for continuous sexual abuse of a child out of Victoria County, authorities said. 

Leonor Priestle and Russell Williams

Yancy's mother, Leonor Priestle, was charged with permit/facilitate an escape and Russell Williams was charged with criminal intent to escape. (Texas Department of Criminal Justice)

Yancy was last seen in a white Nissan Versa with his mother, and was wearing a black beanie and a black sweater, the Brazoria County Pct. 4 Constable’s Office said in a post on social media.

Deputies immediately entered the vehicle’s license plate into a state-wide license plate reader system and got a hit at around 6:09 p.m., indicating the vehicle was in Victoria County, where authorities say Priestle has an address.

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"All information obtained at this point leads us to believe Yancy is no longer in Brazoria County," the Brazoria County Sheriff’s Office said at the time.

Robert Yancy Jr.

Robert Yancy Jr., 39, was serving a life sentence without parole for continuous sexual abuse of a child. (Texas Department of Criminal Justice)

Just before 8:30 p.m., the Victoria Police Department said officers stopped a white Nissan in the 100 block of Sam Houston Drive in connection with the escaped inmate. 

Robert Yancy Jr.

Robert Yancy Jr. was last seen in a white Nissan Versa with his mother, Lenor Priestle, authorities said.  (Texas Department of Criminal Justice)

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A female driver, who was the sole occupant of the vehicle, had an outstanding felony warrant related to Yancy’s escape, police said. She was taken into custody, though police at the time had not released her identity.

The Associated Press contributed to this report.