Three missing boaters were found safe off the Massachusetts coast early Monday after a 39-year-old man and his two children failed to return home from a trip after setting out from Plymouth.

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The U.S. Coast Guard said the family was located off Scituate in their 20-foot Wellcraft boat with "no injuries," around 3:30 a.m. after they were spotted by a helicopter. A search was launched for Mike Ryan and his children, ages 5 and 6, after they left the Plymouth boat ramp Sunday morning and failed to return home.

At least four USCG crews were involved in the search, authorities said. The boat, towed by a Coast Guard vessel, arrived in Scituate Harbor just before 6:30 a.m.

The boaters were heading to Provincetown, according to a Coast Guard official.

– Visit Boston25News.com for the latest on this developing story.