Contact has been made with two men who were last heard from last Friday and had been officially missing since Sunday.

Derek Robinson and Tony Higgins were the subjects of a wide-reaching police and rescue search after their 33ft fishing boat went missing.

With hopes fading, authorities called off the search for the pair on Wednesday night after four days and over 100,000 square kilometres searched.

However, police have since made contact with one of the men.

Channel 7’s Mark Mooney said that the pair somehow “ended up in this little, old, wooden boat down south of Kangaroo Island.”

Their location is further south than the pair had planned to venture.

It is understood that police are now bringing the pair back to shore.