The alarm was raised on Sunday night when the men, a 46-year-old from Kalgoorlie and a 34-year-old from Boulder, did not return home.
A land and air search was launched for the pair in an area near the Trans Australian railway line and Trans Access Road, about 180 kilometres east of Kalgoorlie.
Police said the men had been found “safe and well, although slightly dehydrated” by family members at the Cundalee Aboriginal community.
“The vehicle the men were travelling in became bogged and the pair walked for approximately 50 kilometres to seek help,” a police spokeswoman said. Relatives of the pair are currently taking them back to Kalgoorlie.