The four boys and one girl were reported missing on Monday afternoon.
The last confirmed sighting had been at Clonfeckle Tower. The scouts, all aged 13, had been due to walk to Craigshields, north of Ae Forest.
They were reported to be equipped with adequate outdoor clothing and torches. They were found and brought to safety by police officers.

Nearly 60 firefighters and eight fire engines tackled the blaze which started in the building's basement in Princes Square, Bayswater, at about 23:00 BST.
London Fire Brigade (LFB) said the three men required treatment for smoke inhalation after they became trapped and had to be rescued by crews.
The cause of the fire is under investigation.
A spokesman said 200 people had left the hotel before crews arrived at the five-storey building.
Station manager Charles Hanks said crews had "worked hard to confine the fire to the basement and to stop it from spreading to the upper floors of the hotel".
The fire was under control by 01:56.

Beerens, 28, netted twice against Sheffield Wednesday on Saturday to add to a stunning strike in the previous home game against Bristol City.
"I'm happy for myself," the Dutchman told BBC Radio Berkshire.
"I know I can score more goals than I have so far, but as a team we're working on picking up more points."
Beerens, an August arrival from Hertha Berlin, has missed just the one Championship match for the Royals this campaign and knows maintaining momentum will be key.
"I'm happy I'm the one on the scoresheet for now," he added. "But we stick together as a team to get the job done.
"We travel to Leeds on Tuesday and that's going to be tough, but we have to keep going and we know if we do that, we can get a good result."
Five scouts have been found safe and well after an overnight search in a forest in south-west Scotland.
[NEXT_CONCEPT]
Hundreds of people were evacuated and three men taken to hospital after a fire broke out in a west London hotel.
[NEXT_CONCEPT]
Winger Roy Beerens says he is thrilled to be weighing in with goals as Reading look to keep hold of their position in the Championship top six.