A pair of ATV riders who were missing over the weekend are waking up at home safe and sound this morning.

Yesterday Ryan Baker and Jared Young had an emotional reunion with their loved ones.

The two young men went for an ATV ride Saturday. They were heading toward Crown King from Lake Pleasant, but they got lost and went too far.

"We ended up running out of gas, and where we ran out of gas, we stayed," Young explained. "We just lit a fire and laid down there. Around the fire, we put river rocks and when those were nice and hot, we put them next to our bodies."

The two men said they started walking as soon as they sun came up. They found a ranch and used a phone to contact their families.