The team kept them on the line and relayed assistance and encouragement.
With the line of communication open, the rescue vessel found the men, cold but in good spirits, just after 11pm.
Both men were wearing lifejackets and had their phone in a waterproof case so they could keep communicating.
Coastguard duty officer Luke McCarthy said the boaties "did the right thing by taking and wearing their lifejackets, and having waterproof communications on hand".
"They were very lucky - in the dark and without their lifejackets or cellphone, the outcome could have been very different."
The Circa Rescue crew took the men to shore and a waiting ambulance to be assessed for suspected hypothermia.
The Coastguard Operations Centre is based in Mechanics Bay in Auckland and maintains an all-day, every-day watch for boaties nationwide.