Police say the boy had been walking with another boy, 13, at Sarina, south of Mackay, when a blue car pulled up about 7.20pm on Saturday.
A 19-year-old man and 18-year-old woman, who are both known to police, were inside.
The younger boy got in, however the older boy refused, before the man allegedly pulled out a "bladed weapon" and forced the 14-year-old into the car.
Detective Inspector Tom Armitt says the car was then driven around the area for hours and a number of adults were picked up and in the vehicle at the same time as the boys.
"Whilst the two young boys were in the car there was at least three other adults in that car at that time", he told reporters.
Det Insp Tom Armitt said police did not know the "nature of the meet-up" between the 13-year-old and the adults in the car, but said no one was injured.
The two adults drove the car to the Slade Point area and pulled over, where the older boy took the chance to run away and raise the alarm about 10.40pm.
"He's in the care of his parents, whilst shaken up, he appears in good spirits."
Police later saw the same car being driven in the Mackay area in the early hours of Sunday and pursued it.
It was driven away at high speed, some reports said up to 180km/h, before officers intercepted it.
They arrested two people who were in the vehicle, but later released them after finding they hadn't been in the car when the 14-year-old had been.
Det Insp Tom Armitt said the 13-year-old is being questioned by police but they're not sure whether he will face consequences over the abduction.
"At this stage he is assisting us with our inquiries, so we'll establish that later on in our investigation," he said.
