OAKLAND (CBS SF) – Two young children who were missing for two days in the Sierra with their father until they were rescued Thursday were reunited with family in the Bay Area on Friday.

The five-year-old boy and three-year-old girl were greeted by family members as they arrived home at their grandparents’ home in Alameda County Friday afternoon.

Their father, 41-year-old Nicholas Vlahos, stayed behind in the Sierra as he attempted to recover his pickup that slid off an embankment and became stuck during off-roading. He is expected to return to the Bay Area soon.

Nicholas’ brother and sister boarded planes from New York and Hawaii to help with the search.

“Incredible, I’m so happy right now,” Alex Vlahos, Nicholas’ brother, told KPIX 5.

Nicholas Vlahos and his children were reported missing after they failed to return home Tuesday. The family was on a camping trip and planned to go off-roading in a remote area of Sierra and Plumas Counties before going home.

Two days after they were reported missing, the experienced outdoorsman used a strobe light to get the attention of rescuers of an Air National Guard helicopter. The family was airlifted to safety Thursday night.

No one was injured.