The couple, former fruit sellers, had been working a busy roadside stall with their young daughter in the south-western city of Chengdu back in 1994 when Mr Wang ran out of change. One day, her father ran out of change and made a decision to visit a nearby stall to get the money for a customer.
Soon the story started gaining momentum and Chinese media reported about the case of the missing daughter. He and his wife spent the following years searching for her but sadly failed to find their beloved daughter.
Wang and his wife never left Chengdu, hoping Qifeng would return to them. He asked other passengers if they knew someone like his daughter.
After 24 years, Chinese parents who never gave up the search for their missing daughter were finally reunited with her in a story that has captured hearts all over the world. He put up a sign on his vehicle requesting people for information on his daughter.
A breakthrough came in late 2017 when a police sketch artist wanted to help Wang and drew a portrait of what Qifeng might look like as an adult, reported the BBC.
"My biggest wish right now is that someday my daughter will sit down in my auto, and shout 'Dad!'" Wang said a year ago.
"Dad, Mom, I've come home!" were reportedly her first words, when she met her parents.
It was this the massive media coverage that ultimately helped Wang Mingqing fulfil his greatest dream. It was shared online thousands of times, and eventually reached Wang's daughter.
After the image circulated online, a woman called Kang Ying saw the sketch and thought it looked like her.
She contacted Mr Wang earlier this year, and found that she shared some unusual traits with his missing daughter, including a small scar on her forehead and a tendency to get nauseous whenever she cried.
Several false flags appeared over the years; a number of women who could have been Qifeng but were cleared after DNA test results.
Following a DNA test, it was confirmed that Kang Ying was Wang's missing daughter.
During their reunion Wang told Kang, whose adoptive father had died at the age of 10: "From now on, Dad is here".
On Tuesday, Kang Ying went to Chengdu with her adopted family, reuniting her with her birth parents.
Wang told the Beijing Youth Daily newspapers: "I can't tell you how much hope, disappointment and despair we have gone through these past 24 years".
"My efforts of 24 years were not wasted", Mr. Wang told his friends, according to a BBC report.
As for what happened on that fateful day, 24 years ago, for now, it remains a mystery. She has yet to offer any details on how she got there or how she became separated from her family.