The family was reported overdue on Friday morning from a hunting trip on McKinley Bay, east of Tuktoyaktuk.
Two coast guard vessels, two Twin Otters from Yellowknife, and a Hercules aircraft from Winnipeg were sent to search.
“Late Friday night, despite the heavy fog, the crew aboard that Hercules spotted the missing vessel and its occupants about 75 nautical miles, that's 139 kilometres, northwest of Tuk,” said Carol Launderville, a spokesperson for the Canadian Coast Guard.
“The family had been adrift without engine power for about four days.”
Once the Hercules spotted them, the Coast Guard Ship Eckaloo picked up the family, their two dogs and their 18-foot boat.
Launderville said the family — a man, woman and two teenagers — were warmed up and given food and travelled through the night back to Tuktoyaktuk.
The RCMP confirmed the group arrived in the community early Saturday morning and were brought to the health centre. They all appeared to be in good condition.