At the time of his rescue, he had been gone for about four years. He was very familiar with crafting things himself out of resources on the islands and having to use his survival skills. He heard noises and when he went to find out what it was, he saw ships on the horizon. He didn't know if they were on his side or enemies but he knew he had to try. He got their attention and so they sailed over to his island. Once they had beached on the shore, Selkirk came out from the bushes with his hands up. It turned out they were English and on his side. They let him aboard their ship and they were at sea for another year, stopping off at a few places, before returning to England.