Emergency services and indigenous trackers searched the area around the footprints and found the man sitting down and suffering from slight dehydration according to police.
Temperatures in the Pilbara have reached the high 30s in recent days, according to local police.
WA Police said the man had been taken to South Hedland Police Station for a medical check, and would likely then head to the local health campus as a precaution.
The man’s family raised the alarm at about 6.30 on Wednesday evening after he went missing from a car they left him next to while they went fishing. A helicopter was added to the air and land search on Thursday morning. Originally published as Missing man found safe in WA’s Pilbara