Former Royal Navy serviceman Bernard Jordan contacted The Pines in Hove to let them know he was safe and his friends are going to make sure he gets back safely when the commemorations end. Police had been called in after he left the home on Thursday and did not return.
The nursing home received a phone call from a younger veteran from Brighton who said he had met Mr Jordan on a coach on the way to France and that they were safe and well in a hotel in Ouistreham.
In a statement, Sussex Police said: "We have spoken to the veteran, who called the home today, and are satisfied that the pensioner is fine and that his friends are going to ensure he gets back to Hove safely over the next couple of days after the D-Day celebrations finish.
"Once the pensioner is home we will go and have a chat with him to check he is OK."
The home denied they had barred him from attending the commemorations in France, but said they had attempted to get him onto an accredited tour with the Royal British Legion.