An 18-year-old who drifted out to sea in a kayak was found alive on Thursday floating 18 miles off shore.

Aaron Rose, from Orange, Texas, was spotted off the Honduras coast by a search helicopter and boat after going missing on Wednesday night at sunset.

The teen, who recently graduated from Little Cypress-Mauriceville high school according to social media, was on a missionary trip with his family to Central America at the time of the incident.

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Aaron Rose, from Orange, Texas, (pictured with his parents at his recent high school graduation) was found safe and well off the Honduras coast by a search helicopter and boat after going missing on Wednesday night

The teen's grandmother shared video of the daring rescue by helicopter. In the clip, the boy's father, who is in another plane, can be heard shouting, 'Thank you Jesus' as his son is scooped up (circled in the kayak)

Rose's grandmother, Shirley Heard, told ABC that the teen had wanted to see the coastline at sunset but after a few minutes his father, Daniel Rose, 'couldn't see him on the horizon'.

The missing teen's father, who is a pastor, posted this picture on social media from the shoreline in Roatan, Honduras, while his son was missing.

He wrote: 'Thank you Father that my son will never be truly lost or alone because of your love.'

The rescue mission was suspended overnight due to bad weather but when the search resumed early on Thursday, the teen was found.

The grandmother shared video of the daring rescue by helicopter. In the clip, the boy's father, who was in a separate plane, can be heard shouting, 'Thank you Jesus' over and over.

An emotional Aaron was then pictured wrapped in a towel walking from the helicopter after he returned safely to dry land and hugging his rescuers.

The teen's mother, Mary Beth, also shared her relief and updated well-wishers on his condition.

She said that her son was resting at their hotel after being checked out at the emergency room and was recommended to take painkillers and put on aloe vera for sunburn.

His father later posted on Facebook: 'They FOUND HIM!!! praise GOD.'

The missing teen's father posted this picture on social media from the shoreline in Roatan, Honduras, while his son was missing, writing: 'Thank you Father that my son will never be truly lost or alone because of your love'