The singer issued a plea for fans to help find Shirlene Quigley, who had last been seen getting on a bus at the Port Authority Bus Terminal in New York City in the early hours of Sunday morning (23.10.16), and the dancer was found by police on Tuesday (25.10.16).
A post on the Facebook page of the North Bergen Police Department stated: "After an extensive search by North Bergen Police Department Detectives in cooperation with the NYPD, we have located the SHIRLENE QUIGLEY.
"She is safe and at a medical facility whose location is undisclosed at this time. North Bergen Police Detectives have contacted her father and he is en route from Los Angeles to reunite with his daughter.
"We are very pleased with this outcome. We want to thank the New York City Police Department for their tremendous amount of cooperation in this matter."
Rihanna, 28, had previously posted a video of Shirlene, 32, talking about how we should all try harder to love one another.
And she wrote: "This beautiful soul, and former dancer of mine is MISSING!!! My heart aches thinking of how heavy this is on all who love her! If anyone has seen or has any information on @shirlenequigley's whereabouts ..... PLEASE CONTACT the North Bergen Police Department 201 392 2100 !!!! (sic)"
The 'Needed Me' singer wasn't the only celebrity to take to social media in order to raise awareness for Shirlene - who has worked for artists such as Beyoncé, Jamie Foxx, and Mary J. Blige - as Missy Elliot has also penned a touching message on the photo sharing website.
On a collage of photos of the dancer, she wrote: "URGENT Message*** PLEASE If anyone has seen or heard from Shirlene Quigley @shirlenequigley please contact the North Bergen police 201-392-2100.!!! She was last seen Saturday night around 12:55 AM at Port Authority. She was wearing a pink jacket and 3-4 inch heels. The police have her phone. At this time a police report has been filed. If you have any information please come forward. Please share and help us find her!! #shirlenequigley amazing SWEET CARING SPIRIT who is LOVED by MANY! I NEED YALL TO REPOST get this info out there! Please help with any information (sic)."