BOSTON -- A North Shore woman and her dogs are safe and sound after a walk in the woods turned into full-blown rescue mission.

Andrea Newlin was hiking Monday night with a friend behind Long Hill Estates in Beverly when Gracie, one of her older dogs, became lame and couldn't walk any further.

The group became stranded in the woods, unable to get the pooch out. Newlin and her dog waited for six hours while her friend went looking for assistance.

"My friend went for help and these wonderful gentlemen came," said Newlin.

The police officers who arrived realized they needed more help to get the lame dog out.

"We walked through the woods for about 20 minutes and found her. We needed to get assistance from the fire department and go back into the woods and carry the dog out," said Beverly police officer Kenneth Rollins.

Firefighters were able carry the injured pet out on a make-shift stretcher.

"You don't ever really see that kind of help, so we are really indebted to them," said Newlin.

Gracie, who is named after famed comedienne Gracie Allen, was reported to be doing well Tuesday morning.