Large-scale exoplanet surveys like the Transiting Exoplanet Survey Satellite (TESS) mission are powerful tools for discovering large numbers of exoplanet candidates. Single-transit events are commonplace within the resulting candidate list due to the unavoidable limitation of the observing baseline. These single-transit planets often remain unverified due to their unknown orbital periods and consequent difficulty in scheduling follow-up observations. In some cases, radial velocity (RV) follow up can constrain the period enough to enable a future targeted transit detection. We present the confirmation of one such planet: TOI-2010 b. Nearly three years of RV coverage determined the period to a level where a broad window search could be undertaken with the Near-Earth Object Surveillance Satellite, detecting an additional transit. An additional detection in a much later TESS sector solidified our final parameter estimation. We find TOI-2010 b to be a Jovian planet (MP = 1.29 MJup, RP = 1.05 RJup) on a mildly eccentric orbit (e = 0.21) with a period of P = 141.83403 days. Assuming a simple model with no albedo and perfect heat redistribution, the equilibrium temperature ranges from about 360 to 450 K from apastron to periastron. Its wide orbit and bright host star (V = 9.85) make TOI-2010 b a valuable test bed for future lowinsolation atmospheric analysis.