BOISE -- A Boise father accused of pulling his two young daughters out of school and taking them on the run to Nevada is back in Idaho.

Joshua Dundon, 29, was booked into the Ada County Jail just before 10 p.m. Thursday night on two felony charges of custodial interference.

During a video arraignment Friday afternoon, Dundon's bond was set for $5 million and the judge issued a no contact order between Dundon, his two daughters and their mother. His preliminary hearing is set for June 16 at 8:30 a.m. with Judge Michael Oths. Dundon's attorney says he plans on filing a bond reduction early next week.

Dundon sparked an AMBER Alert in May after he disappeared with his children, 6-year-old Jaylynn and 7-year-old Madison. Dundon, who shares custody of the girls with their mother, told people he was taking them on a camping trip.

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Instead, investigators say, he headed south to Eureka County, Nevada, where he torched his pickup truck and headed into the mountains with the girls.

On May 15, cold and hungry, Dundon walked up to a ranch house in Eureka County and asked for help, telling the couple inside his daughters were still up on the mountain and "were not going to make it," according to ranchers Vera and Jim Baumann.

Dundon was taken into custody and search teams mobilized to comb the area for Jaylynn and Madison. The girls were found - suffering from exposure, but alive - later that evening.

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Both children were returned to family in Boise. Dundon was held in the Washoe County Jail in Reno until his extradition back to Idaho.

It's unclear why Dundon took the children, but court records show he had an upcoming court date in a custody case with their mother. After the AMBER Alert was issued, a motion for temporary custody was scheduled for June 14.

In court on Friday, an Ada County deputy prosecutor said Dundon was a "flight risk" and poses significant danger based on his previous probation violations, drug use, criminal history and the nature of this crime. Dundon also owns multiple firearms.

The prosecuting attorney said based on evidence and information from family and friends, Dundon planned this escape for a substantial amount of time and had no intention of returning his daughters. He said Dundon admitted to the girls' mother that he had been using methamphetamine, and he was mentally unstable and was extremely paranoid about the government tracking him.