The officer stopped the vehicle and found Rodriguez and Caitlyn safe.
Caitlyn's mother, Scarlet Parnell Frisina, had pleaded with her daughter to call her family.
It wasn't immediately clear whether she was found with Rodriguez.
"We had a very handsome, wonderful, very emotional reunion with her a little while ago", the teen's mother, Scarlet Frisina, told reporters at a news conference Saturday afternoon.
During interviews with news media reporters, the girl's parents had pleaded for her to return home.
Authorities said Frisina was believed to be traveling with Rian Rodriguez, 27, in a red Mercury Sable.
Rodriguez was taken into custody without incident, and Caitlyn was detained, the Sheriff's Office said. "We are so thankful to have her back".
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Sometime after 4 p.m. Friday, a NY state police officer spotted a red Mercury with a Florida license plate in north Syracuse near Taft Road and Route 11.
The incident began Sunday when Frisina's parents reported her missing. Police say she is with her high school's boys' soccer coach, Rian Rodriquez, 27.
Frisina took $200 out of an ATM in St. Marys, Georgia, on Sunday morning, and was later that day seen with Rodriguez on surveillance video at a Pilot gas station in St. George, Georgia, Sheriff Mark Hunter said Wednesday.
The Columbia County Sheriff's Office will hold a news conference at 2 p.m. Monday for more details.
Authorities said earlier this week it appeared "a potential relationship" was blossoming between Frisina and Rodriguez before the teen's disappearance.
Frisina has played soccer at Fort White High School, according to an online roster published by Next College Student Athlete.