Lillian, 48, went missing in the bush in Victoria for five days while she was on a trip that was supposed to last only a couple of hours.
She told emergency services that she had nothing but a couple of snacks and her common sense.
Her car was found in the Mitta Mitta area on Friday, and footage captured the moment she was discovered.
On April 30, Lillian was driving toward Dartmouth Dam when she hit a fatal dead-end at Yankee Point Track.
Thinking that she made a wrong turn, Lillian tried to reverse her car, but it got stuck in the mud. She was unable to call for help due to her health conditions, and she stayed in her car in the bush.
After her family reported her missing on April 30, the police launched an extensive search in the Mitta Mitta, Bright, Wodonga, and Albury areas.
A police helicopter was able to locate Lillian, who was found safe and well. Martin Torpey, a police sergeant in Wodonga, said that Lillian was able to survive due to the gifts she had packed away in her car.
Lillian was unable to move her car, which kept her warm by using its heater.
She was found about 60 kilometers away from the nearest town, and she was thrilled to see the police on Friday.
She was taken to a hospital for dehydration, and she is currently under observation.