Karl Stefanovic and his wife Jasmine look relieved as they cradle their daughter Harper, four, after losing her in hour-long police helicopter search in Noosa

Karl and Jasmine Stefanovic looked relieved on Thursday as they spent time with their daughter Harper after she went missing on Wednesday.

Police were called to their Noosa holiday home about 4.20pm on Wednesday when Harper, four, vanished from their sprawling property, which overlooks the beach.

A panicked Karl, 50, and his wife Jasmine, 40, frantically scoured the area as a Queensland Police helicopter hovered above looking for Harper.

Neighbours also joined the search and checked nearby streets and bush trails, while Karl's older daughter Willow, 19, and her boyfriend Genaro Abdala Garcia checked the beach.

Thankfully, Harper was found an hour later 'curled up asleep underneath a chair where no one could possibly have hidden' at their holiday home, Karl told the Daily Telegraph.

Just hours later on Thursday morning, Karl and Jasmine couldn't hide their relief as they enjoyed a day out with Harper following the unexpected scare.

They were seen doting over Harper as they joined Karl's kids Willow and Jackson, 24 - who he shares with his ex-wife Cassandra Thorburn - for a meal out.

Karl brushed off the drama from the past 24 hours as he enjoyed some quality time with his children over their Christmas lunch.

Keeping things low key, Karl cut a laidback figure in a black T-shirt and shorts, which he styled with a dark baseball cap.

Jasmine looked effortlessly chic in distressed denim shorts and an oversized white shirt as she carried Harper in her arms.

She kept her essentials in a beige straw handbag and doted over Harper as she planted kisses on her cheek after the stressful day.

They were joined by Karl's daughter Willow, who is back in Australia for Christmas after moving to the UK to study at the London College of Fashion.

She was also joined by her Argentinian boyfriend Genaro, who cut a casual figure in a white T-shirt, purple shorts and sand loafers for the family day out.

Jackson also joined the group and was seen carrying a gingerbread house from the car as he got into the festive spirit. 

However, the family had a stressful start to the holiday season after Harper went missing in their Noosa holiday home for an hour on Wednesday. 

Her disappearance sparked a desperate search with police called to the property at around 4.20pm while a helicopter also hovered above trying to locate the child.

Karl and Jasmine were seen frantically scouring the area before the Today Show host took off on a Vespa and asked Sunshine Beach locals if they'd seen Harper.

Neighbours also joined the search and also used scooters to check nearby streets and bush trails leading to the ocean, while Ava and Genaro joined lifeguards quizzing beachgoers.

Fears grew for Harper's safety as nightfall and storms approached but she was eventually found 'curled up asleep underneath a chair' inside their home. 

Speaking about the stressful ordeal, Karl described it as his 'worst nightmare'.

'We feared the absolute worst because no one could find her,' he told the Daily Telegraph. 

'I called the police because she couldn't be found inside or around the house and our priority is her safety.' 

Karl thanked police and neighbours who assisted in the search and apologised 'for the fuss'. 

He also told how he had to assure little Harper that Santa won't find out the panic she caused a week out from Christmas.

'But somehow I think he knows,' he quipped.

Karl welcomed Harper with his wife Jasmine in May 2020 at Sydney's North Shore Private Hospital.

The couple had previously tied the knot at the One&Only Palmilla resort in Los Cabos, Mexico, in December 2018.

Karl and Jasmine began dating in late 2016, five months after Karl announced his separation from his first wife Cassandra Thorburn following 21 years of marriage.

He shares his older kids Jackson, Ava - who now goes by her middle name Willow - and River, 17, with Cassandra.