Benedict Allen, 57, had no mobile phone or GPS device with him when he was dropped by helicopter in a remote jungle to begin an expedition.
He hoped to reach a remote tribe, thought to be one of the last on Earth to have no contact with the outside world, but was discovered by a Christian missionary worker at a remote airstrip in the heart of the country where roads have been cut off because of tribal fighting.
In a statement, his agent Jo Sarsby said: "At 5pm local time (PNG) Mr Keith Copley, the Coordinating Director for New Tribe Mission in Papua New Guinea confirmed in writing that Benedict Allen was safe, well and healthy and is presently located at a remote airstrip 20 miles northwest of Porgera, Enga Province.
"Confirmation on exact location coordinates are now being confirmed in order to arrange evacuation as soon as possible."
Concerns were raised when Mr Allen, who was expected to begin his journey home at the weekend, failed to make a flight home via Hong Kong.
His wife, Lenka Allen, previously told the Daily Mail that their children - 10-year-old Natalya, Freddie, seven, and two-year-old Beatrice - were asking: "When's Daddy coming home?"
BBC security correspondent Frank Gardner who has joined Mr Allen on some of his expeditions in the past, told BBC Breakfast that Mr Allen had tracked "huge distances" to reach the remote airstrip.
He said: "He's requested rescue and efforts are under way to try and get him out."
He added that he was "quite annoyed with him as a friend" for leaving without a plan but said he was "sure he's come back with an incredible story to tell which will be fascinating and he'll regale audiences at the National Geographic Society and elsewhere but we could have done without this worry on his behalf".
It appears the explorer will also be told off by his family when they are reunited.
Mr Allen's brother-in-law, Paul Pestille, told The Times that the family were "very cross" with the explorer for travelling without a satellite telephone or GPS locator.
He went on to say: "There will be a family fracas when he gets back.
"His ethos of going without modern technology is a cause for concern. We have to accept it but it causes us all a great deal of worry."
The explorer, from London, has previously crossed the Amazon Basin on foot and in a dug-out canoe, and participated in a six-week male initiation ceremony in which crocodile marks were carved onto his body.
