The group of four hikers made their way into the Ape Cave, a lava tube in Gifford Pinchot National Forest, which became an increasingly tight squeeze.
The video shows the group reaching what they think is the end of the cave, and then making the surprising discovery.
"As we were about to leave, this little girl pops up out of nowhere and scares us," the YouTube channel's titular Josh told the camera.
"She was just there alone by herself ... so I start talking to her but she doesn't answer me. (She) crawled the whole way there by herself, no light.
"Eventually her parents were yelling her name in their language and she went back but she just started crying - it was a crazy situation."
Watch the video below, or on YouTube.
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