The little girl was just 1.2 miles away from her home.
Rescuers, including the girl's relatives found her almost two kilometres away from her house in hilly and rugged terrain, Queensland Police Inspector Craig Berry told reporters.
Aurora walked off the family's remote rural farm into an area of woodlands and hills at around 3pm on Friday, and was reported missing to police.
Aurora's grandmother, Leisa Bennett, said she called out to her granddaughter Saturday morning and heard a faint cry in the distance.
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Even though people came from all over to help in the search, it had to be suspended until sunrise.
She lost on a property seven times the size of Monaco, with several dams and one steep woody mountain.
"You watch SES and police leave, and you think, 'oh my god, she's out there somewhere in the dark, a three-year-old baby, ' described the grandmother".
He was suggesting the opposite direction to rescuers.
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A partially blind and deaf dog became a 3-year-old girl's hero and protector when she got lost in the woods in Australia. "I held him and we slept together".
Aurora took shelter under a rock with Max during the night, with police saying to ABC News "the dog was good company and they kept each other warm".
For his efforts, police have named Max an "Honorary Police Dog".
Australian media reports Max is 17-years-old, almost blind and deaf.
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