UPDATE: An elderly couple reported missing after travelling from Northern New South Wales overnight has been located safe and well in Windaroo a short time ago.

EARLIER: Police are appealing for public help to find two people who have not returned to their family's home from a holiday in northern New South Wales.

Dale and Cavell Lawlor were scheduled to leave Kingscliffe  on Monday and return to a Durack home by around 8pm last night but they have so far not made it back.

The couple have not made contact with friends or family since they left New South Wales.

Mr and Mrs Lawlor are travelling in a red Toyota RAV4 with Queensland registration 545VQW.

They do not have a phone or a global positioning system but it is believed they were making their way back to Brisbane using the M1 and M7 motorways.

Anyone who may have seen Mr and Mrs Lawlor or their vehicle, are urged to contact local police as family hold concerns for their welfare due to their existing medical conditions.

Mr Lawlor is described as Caucasian in appearance, around 178 centimetres tall with a slim build and short grey hair. He may have been wearing blue jeans and a long-sleeved shirt.

Mrs Lawlor is described as Caucasian in appearance and of a slim build with short grey hair. She is believed to be wearing a blue trousers and a blue blouse (as pictured).

Mr Lawlor is a dual American-Canadian national and Mrs Lawlor is a dual Australian-American national and the pair may be unfamiliar with their surroundings.

Anyone with information which could assist with this matter should contact Crime Stoppers anonymously via 1800 333 000 or crimestoppers.com.au 24hrs a day.