Charlie Williams, 19, and Beau Bryce-Morris, 37, were on a fishing trip with a dog in Western Australia on Friday when their car became stuck.
The pair made video messages during their ordeal, as a document and a message to their loved ones.
Rescuers found the men on Tuesday.
"They were very fatigued and dehydrated and heat-struck. Obviously quite emotional and happy to see us," said police Sgt Mark Balfour, the rescue co-ordinator.
