The search for the family of 3 began Sunday evening.
Police told Action News that the family had gone missing while tubing near Godfrey Bridge Road and Wading Pines Camp in Chatsworth, New Jersey.
New Jersey State police helicopter, fire crews and search dogs were called in to comb the area.
After several hours, the mother, father, child and family dog were found safe and out of the water.
Authorities say they were cold but not seriously injured.