Spanish nationals David Hernandes Gasulla and Martha Miguel, Hong Kong citizen Tommy Lam Wai Yin, and Malaysian Armilla Alihassan went missing in their small boat May 2 while on an island-hopping excursion off the Malaysian state of Sabah on Borneo island.
Malaysia's coast guard and navy launched a search-and-rescue operation but hope faded as days went by and they were not found.
The quartet were unexpectedly discovered yesterday when a Vietnamese fishing trawler was intercepted in the disputed Spratly Islands near Layang-Layang atoll, a popular diving spot, for encroaching in Malaysia's territorial waters, coast guard First Admiral Zubil Mat Som told local media.
The other Vietnamese ships were then contacted by radio.
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"We were shocked. The woman on the radio told us she was Armilla and it didn't hit me then that she was among the four missing people. It was only when she said she was with Tommy that it clicked," he said.
The foursome were said to be in good health, and photos posted on Twitter by Malaysia's coast guard showed them smiling as they arrived back in Kota Kinabalu on Friday morning.
Malaysian fishermen had recovered an engine entangled in their net last weekend that was believed to be from the missing boat, prompting fears that it had sunk and the group had perished.