The incident happened on Nov. 15 between 11 a.m. and noon at the Aspen Falls Apartments at 135 Trenton Road, Fairless Hills.
The race and walk will help support the Middletown Township Police Department's K9 unit.
The 8-year-old puggle got loose at about 3:30 p.m. Monday around Mill Creek Road.
Milo, who is just 7 months old, has been missing since Monday.
He went missing on Monday from his home in the Silver Lake community.
Bristol Township Police posted a photo of the found dog on Tuesday morning.
This 9-year-old good boy has been in foster care since November of last year.
The animal group is offering a $2,000 reward for information on who abandoned the terrier-mix, in poor condition, alongside Business Rt. 1.
The pup was found at about 6:15 a.m. Friday on Trenton Road near the I-95 overpass.
Award Bestowed at 2018 Hall of Fame Luncheon in Hershey, PA