LAKEVILLE, MASS. >> A 47-year-old Massachusetts woman has been charged with abducting her two children.

Valerie McGrath was arrested Monday when her vehicle was spotted at a McDonald's drive-thru in Raynham and charged with kidnapping minors. She will be arraigned Tuesday.

Police say McGrath picked up her 7-year-old daughter and 5-year-old son Sunday afternoon from their Lakeville home with their father's permission, but never returned. The father, Steven Carrigan, has sole custody.

Carrigan notified police after McGrath didn't show up at their agreed-upon time.

Swansea officers found McGrath's car in a field around 5 p.m. Monday. She had a rental car when she was found at the McDonald's.

Police say the children were in good health.

McGrath was held in jail overnight.