Co-parenting troubles

Backstory: my ex-boyfriend and I live together (I'm moving out in the next month) and we were doing pretty well at being roommates and co-parenting until very recently. It's gotten to the point where he's called me a bad mom and told me he can't wait for me to leave. Of course this hurts and pisses me off. But that's nowhere near as bad as what he did tonight. While I was out in the garage packing and sorting my stuff, he packed my daughter up and took her somewhere at 9pm and refused to tell me where or when he would be back with her. It's now 12:30 and I have not heard from him. I'm a nervous wreck not knowing and I'm ready to do some damage. I have idea what to do moving forward. Do I call the police if he doesn't return with her tomorrow? Any idvice would be appreciated.