Crews were called around 8:30 Saturday night to Tinicum Township, Bucks County.
The 10-year-old boy and his mother were there tubing with the woman's brother when they were reported missing.
Around 10:00 p.m., the two victims were safely found on the Hunterdon County, New Jersey side of the river. Both were wearing lifejackets.
Officials say the pair were in fair condition and were checked out by paramedics.
This comes about a week after 30-year-old Anthony Del Prete went missing while tubing in the same area. Del Prete has not yet been found.