Two Maine men who had been reported missing Tuesday night after they failed to return from an off-roading excursion were found safe, though one now faces a charge of operating a motor vehicle on an ATV trail.

Travis S. Mosher, 42, of Rangeley, and Douglas S. Richmond, 49, of Madrid, had met at Richmond’s residence and set off around 2 p.m. in Mosher’s recently purchased Jeep Liberty, according to Cpl. John MacDonald of the Maine Warden Service.

The Jeep, which had street tires, became stuck in mud on an ATV trail at dusk Tuesday, two to three miles from Richmond’s home. The trail was extremely rough, even for an ATV, MacDonald said.

The two men could not be reached by cellphone, possibly indicating their phones were turned off or ran out of power, MacDonald said in a news release shortly after 11 p.m. Tuesday.

The pair spent the night in the truck and Mosher hiked out Wednesday morning. Nobody was injured.

It is against the law to operate a vehicle on an ATV trail, MacDonald said, and Mosher was issued a summons.