Lilly, a six-year-old "bitsa", cross Bull Terrier, Arab, Staffy, disappeared from her owner's Upper Kangaroo River property, north east of the Kangaroo Valley village, last Friday (November 12).

In almost like the nursery rhyme, Five Little Ducks went out one day, over the hills and far away, however, this time instead it was Lilly and her four-year-old male canine companion, Harley.

The pair "went for a wander" from their property but only Harley came back.

Read more:

Despite desperate searches by owners Tania and Geoff Sharman, family and friends, Lilly could not be found.

Tania said the search "continued for a number of days" but they "couldn't find any trace" of the beloved pooch.

A change of wind two days ago brought the sound of a barking dog to the owners' attention.

Geoff, and friends Will Baker and Callum Shillinglaw, again went bush on Thursday, searching for the source of the barking.

The trio continued their search until dark and "camped out overnight", sleeping on the mountain, before resuming their search Friday morning.

Their tenacity paid off when they finally found Lilly, about two kilometres from home as the crow flies, on a small ledge, 20 metres down a cliff face.

After realising they couldn't safely reach her, the trio called authorities for help.

A NSW Ambulance crew from Bomaderry, including District Officer, Inspector Faye Stockman and Rescue Paramedics Scott Styles and Wes Foster, and four members of the Wingecarribee State Emergency Service (SES) were dispatched.

Paramedic Wes Foster abseiled part way down the cliff face, and while he could hear Lilly barking, he couldn't see her.

SES member Peter Saw made a tricky 20 metre descent down another section of the cliff and spotted Lilly on the four metre by one metre ledge, who although dehydrated was delighted to see her rescuer.

Lilly was secured and taken to safety before being reunited with her happy owners.

"She's really dehydrated and a bit shaky," said Tania as they prepared to take her to the vet for treatment.

"She was certainly happy to see us and we were happy to see her.

"It's just fantastic to have her back and we can't thank everyone enough for everything they did.

"She looks okay but needs some attention. Considering she's been out for seven days she's in pretty good condition."

Inspector Stockman said "it was a good outcome".

"It was a different sort of operation for us," she said.

"It was a sensational multi-agency effort. Everyone worked well together.

"There was good communication and a good combined skill set and in the end a great outcome."