A family of seven are lucky to have escaped unharmed after they found themselves stranded in remote bushland for several days after their car got bogged.

Police in the Top End said two adults and five children, aged between five and 15, were travelling between Gapuwiyak to a homeland community near Blue Mud Bay in East Arnhem Land.

They were supposed to arrive on March 31 but never turned up despite telling community members about their travel plans.

The alarm was raised two days later on April 2 after no one had heard from them.

Emergency crews launched an investigation and a land search that was quickly abandoned due to poor road conditions.

A helicopter, called in on Saturday, helped spot the family near a dirt road surrounded by bushland.

The group had camped next to their bogged vehicle waiting to be rescued.

“The family has done the right thing by informing the community of their travel plans, staying by their vehicle and travelling with adequate food and water supplies,” NT Police Superintendent Brendan Muldoon said.

“I commend all parties involved in the search and rescue and am always pleased when these dangerous situations end with a positive result.”

The journey should have taken the family about three hours across incredibly remote terrain.

Temperatures in the remote area would have exceeded 30C.