Rescuers were called at 1am this morning by a man who had become lost near Mundaring Weir.
The man and a friend had been in a four-wheel-drive when it became stuck on a hill.
They left the vehicle and began walking but after an hour and a half found they were lost.
One of the men called the Police Operations Centre on 000.
A police spokesman said the men were able to provide the GPS coordinates of the vehicle.
"A police helicopter was sent to the area and the flight crew searched the area using the FLIR camera and Nigh Vision Goggles," the spokesman said.
"The men were located about 2am and officers from Forrestfield Police Station were directed in to where they had been able to make their way back to their vehicle."