Police said the body of Michael Kaiser, 56, of Newportville, was discovered Thursday down a 30-foot embankment off the trail in Lehigh County.
Kaiser went hiking on the Appalachian Trail in Lynn Township last Friday.
The next day, police said Kaiser sent his brother a photo of Bear's Rocks. That's the same area where Kaiser was found.
However, they said Kaiser has not been heard from since.
On Tuesday, Kaiser's brother reported him missing to the Bristol Township Police Department.
On Wednesday, troopers located Kaiser's Ford F-150 in the vicinity of Bake Oven Road in Germansville.
Kaiser's body was discovered around 12:30 p.m. on Thursday.
At this point, state police say there is no danger to the public and that this appears to be an accident.
Suzanne Goss was selected by the family of Michael Kaiser to read a statement.
- Helicopter lifts plane out of Susquehanna River 2 weeks after crash
"The family would like to thank all that volunteered, shared social media posts and helped out in the search. Michael loved this area. This is a good place," she said.
Michael Kaiser was 56 years old and leaves behind 4 children.