The man, 75, and woman, 77, from Neubrandenburg, Mecklenburg-Vorpommern in eastern Germany, were finally stopped by police in Aschaffenburg, Bavaria - 700 km from home.
Police pulled them over on the A3 motorway after they had driven off from a petrol station without paying.
The couple were reported missing on Friday and apparently drove through Thursday night before being stopped on Friday.
Police said in a statement on Monday the couple were confused and disorientated and a doctor was called.
Both were taken to hospital and will be returned home in the next few days.