Two bushwalkers who were missing in the NSW Blue Mountains have been found alive and well.

Alfred Zawadzki, 69, and Klaus Umland, 81, left Dunphy’s campground in the Megalong Valley on Wednesday, telling a friend they would be back on Friday.

The alarm was raised on Sunday, sparking an intensive land and air search involving rescue squad police, PolAir, Rural Fire Service officers, NSW Ambulance Special Operations and the SES as well as an Australian Maritime Search and Rescue plane.

Police say the men were found tired but in good health around 1am on Tuesday near Mobbs Swamp by a rescue party which is escorting them to Dunphy’s campground.

Neither has any apparent injuries but they will be assessed by paramedics.

Detective Inspector Michael Marinello said it was a timely reminder for bushwalkers to have an appropriate communication plan.

“It is imperative that they have with them all the relevant safety equipment including suitable clothing, food, water,” he said.

Bushwalkers should also have a fully-charged mobile phone, along with additional charging devices and a GPS enabled personal locator beacon.

“It is also important to let someone know your intended route, what tracks you are taking and your estimated return time. If there is any change to the original plan, then tell someone,” he said.

By Maureen Dettre in Sydney