A teenage boy remains in a critical condition at Waikato Hospital, after a milk tanker and a van collided in Rotorua on Friday.

The crash, on State Highway 5 south of Settlers Rd happened about 4.30pm near Reporoa on Friday, police said.

The driver, an adult male, and a teenage boy passenger died at the scene.

Police said a 16-year-old boy remains in a critical condition in Waikato Hospital, and the teacher and remaining students who were still being treated yesterday have now been discharged from hospital.

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A group of nine people from Queensland, Australia, who were on a school camping trip, were in the van involved in the crash, police said.

The group had walked the Tongariro Crossing and were travelling to Rotorua when the crash occurred.

They were due to return to Australia today, police said.