BOISE, Idaho -

Police say two Boise men and three children missing overnight have been found safe.

The Boise Police Department says the five went for a drive and possibly a hike on Saturday but didn't return because their SUV got stuck in a snowbank. A search launched on Sunday.

One of the fathers told police that the group slept in the vehicle, then walked an estimated 19 miles Sunday to a cabin in Prairie where they called family members. They told police they didn't need medical treatment.

Missing had been John Julian and his two children, 8-year-old Samantha and 7-year-old Isaac, and William Murkle and his 10-year-old daughter, Megun.

Police say they were last seen about 2 p.m. Saturday leaving Luck Peak Reservoir or C.J. Strike Reservoir. They were expected back about three hours later.