Fire officials say a whale watching crew from Barnstable Harbor saw the father and his two children on the west sandbar waving and yelling for help and called the Barnstable Fire Department for assistance.
The boat the whale watching crew were using was unable to approach the sandbar.
The Barnstable Fire Department dispatched their 27 ft. boat to rescue the hikers and brought them to the Barnstable Harbor.
There were no injuries, but the trio continued on their quest after reaching the harbor.
Barnstable police are asking the public to pick up a Cape Cod guide book and follow it before attempting these kinds of trips.