Rescue teams launched a ground, water and air search for a man who was reported missing late Tuesday night along the bluffs between Pismo Beach and Avila Beach, according to Cal Fire.

The search and rescue efforts involving multiple agencies halted early Wednesday morning and resumed a few hours later. Rescuers then located the man in the Pirate’s Cove area, and he was reunited with his family, Cal Fire stated in a tweet.

Cal Fire spokesman Chris Elms told the Tribune the missing man spent the night sleeping on the beach, and in the morning, he walked right up to firefighters. The man, who is in his mid-20s, never went in the water, Elms said.

Paramedics evaluated the man, then released him, and he went back to his parents. Authorities have not disclosed the man’s identity.

Pismo Beach police, U.S. Coast Guard personnel and a CHP H-70 helicopter all participated in the search, along with Cal Fire rescue workers.