The pair, both in their fifties and from Cambridge, set out from the French town on Saint Jean Pied de Port enroute to Roncesvalles in Spain via a portion of the Camino de Santiago path.
A spokesperson at the Foreign Office said: "Two British nationals who were reported missing have now been safely found in Navarra."
The man and woman were discovered on Monday after helicopter rescue noticed a cross shape composed of brightly-coloured clothing.
Owing to steep terrain, the crew was unable to land but firefighters later found the pair on-foot and it was decided they did not require hospital treatment.
The two Brits were forced to drink water from animal water troughs when their supplies ran out in the mountain range which straddles the border between France and Spain.
The trek should have taken them around eight hours to complete.
The Camino de Santiago, also known as St James's Way, begins in France and ends at the Cathedral of Santiago de Compostela in Galicia where, according to tradition, the remains of James the apostle are buried.