The Maryland man with autism who disappeared from Madison Square Garden late last week was found safe in the Upper West Side, police said Monday.

A passerby called 911 after spotting Bryan Cotton around 5 p.m. Sunday, sleeping at the corner of West 51st Street and 9th Avenue — more than 15 blocks from where he was last seen, police said.

He was taken to Mount Sinai West for evaluation.

Cotton, 59, had been missing since 4 p.m Friday, when he disappeared from a wrestling event at MSG’s Hulu Theater.

The Silver Spring, Md., man was at the theater with family when he got up to use the bathroom and never returned, police said.