Firefighters freed the children from the vehicle after they were found with no ventilation or water in a parking lot near the beach in Malaga, ThinkSpain reported Tuesday.
Rescuers said the children, whose ages were not given, were sweating profusely and feeling dizzy, putting them in danger of heat stroke. Their conditions were not reported.
The father, 48, and mother, 39, were found and arrested at the beach. The nature of their charges was not known.
Police said the couple had left their children in the car after a family argument in which the children insisted they wanted to go to another beach.