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St. Matthews, S.C.(WACH)--A missing Ft. Jackson soldier returns home safely after vanishing from his home more than a week ago.

Sergeant Robert Larson went missing from his home in St. Matthews Saturday October 20th. 

His wife Pamela said that he was working on his Jeep and when she went to check on him he wasn't there.

After a week long search that extended into the Midwest Region Larson was found in the woods near his hometown in Minnesota.

The Larson family is glad to have Robert back but things are far from being back to normal.

"Just trying to take it one day at a time and do what I can to get better and try to figure our what all was going on in my head anyways," said Sgt. Larson.

The proud father of 2 boys admits that he wasn't sure why he left but he knows why he returned.

"Every time I got those really dark thoughts staring at the edge of that cliff I just remembered I had to something to go back home to," said Sgt. Larson.

The Purple Heart recipient has served his country for several years, his missions include overseas tours.

His mission in Iraq left him with a severe brain injury and Post Traumatic Stress Disorder.

"It was like 10 years of all of this stuff that I've just been packing in over the shoulder just came out all at once," said Sgt. Larson.

PTSD is a condition that can develop after a traumatic experience. 

Steven Diaz, with Hidden Wounds works with veterans who suffer from PTSD.

"When you're loosing more men here than overseas then that's a problem," said Diaz.

Hidden Wounds is an organization that specializesin helping Veterans cope with PTSD.

Diaz recommends veterans who suffer from PTSD seek attention.