The scouts, from Manti, got stuck in an area made of slick sandstone known as "Pandora's Box," Wayne County Sheriff's deputy Matthew Webster said.
The incident began Saturday when five scouts and four scout leaders failed to arrive back home as scheduled and a concerned family member notified authorities.
As rescue crews were setting up a command post, part of the group managed to hike out of the canyon and call for help. Two adults and two scouts spent the night in the canyon. They were rescued just after noon Sunday and helicoptered to safety, the Salt Lake City Deseret News reported.
No injuries were reported.