Ricardo and Martha Beltran, 75, are back home with their family after spending two-and-a-half days stranded in a remote desert near Sierra Blanca.

They were rescued by Sierra Blanca Border Patrol agents patrolling an international border area of Hudspeth county.

"We had information that there was a possibility of illegal activity in the area, so we had some agents out there patrolling and walking some of the trails. An agent observed a quick glare of something shiny from afar, and it caught the agent's attention, and that's when they encountered a vehicle. As the agent approached the vehicle, that's when they encountered Mr. and Mrs. Beltran, they were inside the vehicle, covered up, and they were responsive," said Jorge Reynosa, a field operations supervisor for the Sierra Blanca Border Patrol. "We had heard about an elderly couple missing on the news, and we were able to confirm their identity through a license plate match and other means."

Martha remembers the moment well.

"Oh, I startedcrying. When I saw those lights and about four border patrol cars and about 10 or 12 agents, I was just thanking God, I couldn't believe it, I couldn't believe they found us there," Martha said.

So what were doing out in the middle of the desert?

The couple told KFOX14 that they were simply on a scenic afternoon drive out in the desert, and that's when everything went wrong.

"All of a sudden I came upon this dip, and I was in five to ten feet in there, and I got stuck," Ricardo said. "We were in like a pit, it made a V shape."

Their Hyundai Tucson wasn't able to drive out of the pit, and the couple was stranded.

"I didn't panic, I was just scared that nobody was going to find us cause we were in the middle of nowhere, so we prepared for the worst," Martha said.

"We weren't lost, I knew where we were, I had good bearings, I just couldn't get out of the situation," Ricardo said.

The couple was stuck in that spot for two-and-a-half days. They did what they could to draw attention to their location for whoever might be searching for them.

"We tried make a brush fire so we could be spotted but it just wouldn't catch," Ricardo said.

"We didn't have blankets, so we covered ourselves with a tarp and he would turn the heater on every two hours, it was cold out there, and then what worried me was we were running out of water," Martha said.

After they were rescued, the Beltran's were quickly reunited with their family.

"We were crying and hugging and kissing, and just so happy to be together again," Martha said. "I'm just happy to be home. And I'm glad I have my family and my friends that prayed for us and got us home safe."

The Beltran family joked around with the couple, telling them they were going to microchip them or get them a GPS in order to keep track of them because they didn't call to tell where they were going.

"We've always called them and let them know where we were, this time we just didn't because we didn't have plans to stay out there, it was supposed to be a one or two hour drive and it turned into a nightmare," Ricardo said.

"Next time I'm going to tell my kids exactly where we are going, and be better prepared," Martha said.