The dehydrated and exhausted group was located on Croker Island, about 250km northeast of Darwin, the Northern Land Council says.
They were dropped off at nearby Peacock Island by an illegal fishing boat and walked to Crocker Island in Arnhem Land at low tide.
"On Sunday evening one of the men walked into Wanakutja Outstation seeking help," the council said.
Community members found another foreign nation from the man's group lying on a roadway as they were taking the first person to a rangers' camp.
"Both were not well – dehydrated, exhausted, lacerations on legs," the council said.
Rangers provided first aid, food and water, tents and swags to the men.
They used a translator app on a phone and learned there were two more men on a nearby beach.
The rangers found the pair on Monday morning.
"They said they had each paid money to get here," the council said.
Five NT police officers travelled from Darwin and took the men into custody later in the day.
They are understood to no longer be in Australia.
A spokesperson for Home Affairs Minister Tony Burke said no people smuggling ventures had been successful under the Albanese government.
"People who come to Australia by boat have zero chance of success," he said.
Australian Border Force said it "does not confirm or comment on operational matters".
NT Police said the matter was being handled to the ABF.
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