The NPS said the couple, a 28-year-old man and a 30-year-old woman, fell about 100 meters along ice-covered cliffs on Dorrberg.
Their bodies were recovered, according to the NPS, by Park Service rangers with the help of the Mount Desert Island Search and Rescue and a Main Forest Service helicopter. NPS rangers and Maine police are investigating, with the help of the Bar Harbor Police Department.
The two hikers arrived in Bar Harbor, Maine, on Tuesday and were heard from around noon on Thursday. The NPS said the woman would be interested in hiking Cadillac Mountain during a phone call with family members.
NPS said concerns about their whereabouts increased on Friday afternoon when the couple did not leave their hotel according to the schedule or return to their vehicle. The search began Friday night after family members left the couple in arrears to report.
The overnight search involved a Coast Guard-equipped helicopter with thermal imaging, which successfully searched for heat signatures near the Dorr and Cadillac Mountains, the NPS said. On foot searchers discovered the bodies late Saturday morning, authorities said.