The boys are 6 and 8 years old.
According to the L.A. County Sheriff's station in Palmdale, the two boys were put to bed Wednesday night. They were discovered missing Thursday morning.
The sheriff's department received the report at 10:30 a.m.
A search-and-rescue team was deployed to search for the boys.
The boys were found about a quarter-mile from their home Thursday afternoon. They returned home without incident.
Agua Dulce is located between Palmdale and Santa Clarita on Highway 14.