A chance encounter turned into an amazing, life-changing experience for two families, and the story is resonating with people across the country.

Charity Stewart Robinson recently attended a rodeo in Gladewater, Tex., with her children.

When she saw her newly adopted son, Lincoln, who has been diagnosed with language and sensory processing disorders, bond with a man in a cowboy hat, she snapped a photo and posted it to Facebook.

Dear stranger next to us at the rodeo,When my son came up to you and grabbed your arm, you didn't know he used to be...

Posted by Charity Stewart Robinson on Saturday, June 13, 2015

Robinson’s heartfelt Facebook post quickly went viral — it’s already been shared more than 160,000 times. Not surprisingly, she soon learned the identity of the kindhearted stranger.

Charity and Lincoln, along with the mystery man, Pastor Jason Taylor, appeared on "Fox and Friends Weekend" to share their inspiring story.

Charity explained that three-year-old Lincoln has had difficulty interacting with others, so to see him laughing and playing with Taylor was an amazing experience.

"I had tears streaming down my face," Charity said.

She added that night changed their lives. Not only did they attend Taylor's church to hear his preaching soon after, they will be friends forever, she said.

"We try so many things and do so much to share and spread the love of Jesus," Taylor explained. "It was, kind of, the Scripture lived out."

"Lincoln didn't focus on the differences that we have ... if we focus on differences, it always divides," Taylor said. "Lincoln just found the common bond, and that common bond is the love of Jesus."

Here are a few more pictures from Sunday morning at Bar None Cowboy Church! These were taken by Jason's wife. Linc...

Posted by Charity Stewart Robinson on Monday, June 15, 2015

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