The Saline County Sheriff's office said the pair had been hiking on a trail Tuesday evening when they entered a creek, became disoriented, and were unable to find their way back to the trail.
One of the teens called 911, and dispatchers were able to guide the hikers and the rescuers to each other. The teens were found around 10 p.m. and taken back to their vehicle.
The sheriff's office says one of the teens was from Evansville and the other from Indianapolis.
Garden of the Gods is located in the Shawnee National Forest. The entrance is in southeast Saline County, about 12 miles south of Harrisburg.