"They were all experienced cavers and [the teacher] was able to walk out this morning so it was all under control."
The party spent the night at an underground camp known as Salvation Hall in Nettlebed Cave.
Police were called shortly after 9.30pm to co-ordinate the rescue when the group was reported overdue.
Police said the rescue group, which included local volunteers, walked about two hours to reach the cave entrance and a further 2.4km journey through the caves before they reached the group.
The group's supervisor reportedly has moderate injuries and was treated in the cave before being taken out.