Three individuals who went missing earlier in the week while tubing on Michigan's Muskegon River have been found safe, authorities announced Friday.

Jazman Hock, 28, Sarah Vida, 28, and 9-year-old Kayden Kovalcik were last seen on Tuesday. They were located Friday afternoon by a Michigan State Police K-9 unit and Michigan Department of Natural Resources conservation officers approximately three-quarters of a mile northeast of the Mill Iron Road Boat Launch.

The investigation into their disappearance began after the father of one of the women discovered her vehicle at the Maple Island Boat Launch with a broken window, according to Michigan State Police. Family members had been unable to contact any of the three for over 24 hours.

Authorities stated that the missing individuals were believed to be using orange and pink tubes when they went missing. Multiple agencies were involved in the extensive search effort.

"This is the outcome everyone involved had hoped for," Michigan State Police said in a statement. "We are incredibly grateful for the tireless efforts of the many law enforcement agencies, fire departments, emergency responders, search and rescue teams, and volunteers who dedicated countless hours to this search."

Police indicated that no further information would be released at this time out of respect for the privacy of those involved.