The men, aged 34 and 32, spoke to their families about 5pm and were due back at 6pm.
When they had not arrived by 9pm, their families reported them overdue.
‘About 9.45pm Water Police asked us to put our boat on standby,’ Whitfords Volunteer Sea Rescue commander Roger Howell said.
‘We had four confirmed sightings of flares from people in the Quinns Rocks area.’
Water Police found the 6m fibreglass boat about 11.10pm and asked the sea rescue to pick up the vessel and men on board.
‘We picked them up off the police boat,’ Mr Howell said.
The sea rescue volunteers, who had travelled from Hillarys Boat Harbour in Green 1, took the men and towed their boat back to Mindarie.
‘It was a good result,’ Mr Howell said. ‘The community did the right thing by calling us and the police when they saw the flares.
‘And the men did the right thing by telling somebody where they were going and when they’d be back ” that makes a big difference.’
See also: Sea rescue volunteers kept busy