About 15 Land SAR volunteers from Invercargill and Te Anau as well as Police Search and Rescue staff were put on standby to commence a full search today if the woman had not been located.
Just after midnight, the woman was located by the helicopter piloted by Sir Richard Hayes using the thermal imaging equipment.
The woman was on the Arthur Valley side of MacKinnon Pass in thick bush.
Due to the location of the missing woman, she was not able to be extracted by the helicopter so two Milford track guides and Ultimate Hikes General Manager Noel Saxon were dropped near her location with supplies and made their way through the bush to the woman where they made her comfortable for the night.
At first light a SAR crew and Southern Lakes Helicopter returned and recovered the woman who was uninjured.
Police said the woman did the right thing by realising she was lost and hunkering down until help came.
Police also praised the professional and immediate response of the Ultimate Hikes and Milford Track staff, and thanked the professionalism of the crew on the Southern Lakes Helicopter for locating the missing woman in difficult terrain.