The family of four from California -- Adam Harris Harteau, his wife, Emily Faith Harteau, and their two children -- were aboard a ferry traveling from the city of Belem to Macapa when the vessel was attacked by pirates on Sunday, according to Brazil's Civil Police. Officials said the pirates took the family with them after the attack.
The family were found at 5:30 p.m. local time Wednesday in Vila Curumu in the state of Para in Brazil, according to police.
ABC News was with Adam Harris Harteau’s brother, Keith Harteau, when he found out his brother and family were found alive.
“We got him back,” exclaimed Keith Harteau, who said he “cried a lot but did not lose hope” when the family went missing.
A man from Vila Curumu rescued them with help of villagers after seeing the family on a piece of driftwood in the river, police said.
It was unclear if the Harteaus escaped from their attackers or they were released. There were also no additional details from officials on what happened to the Harteaus during the three days they were lost.
Family members told ABC News the Harteaus were due to move back to California on Nov. 15.
“We don't ever want them to go anywhere again,” Keith Harteau said. “I'm really thankful for the strength that Brazil showed.”
ABC News' Aicha El Hammar and Shahriar Rahmanzadeh contributed to this report.