The 14-year-old and 15-year-old boys, who were staying with friends after leaving a group home in Wasatch Front earlier this week, allegedly stole the Cessna from a private airstrip in Jensen in Uintah County.
On Thursday morning, the teens jumped on a tractor and drove to the airstrip, where they started the fixed-wing, single-engine plane, the Uintah County Sheriff's Office said in a press release.
Witnesses told police they saw the plane flying "very low" along U.S. Route 40 near Gusher.
"Based on information obtained by investigators, the teens mentioned flying back towards the Wasatch Front, but decided not to and returned to Vernal where they landed at the airport," the sheriff's office said.
The duo landed safely at Vernal Regional Airport, where they were arrested.
The boys, who have not been named, were taken to the Split Mountain Youth Detention Center in Vernal, where they are being held on multiple charges, according to authorities.
The investigation into the incident is ongoing.