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A Canadian man who vanished five years ago has been reunited with his family after he was discovered wandering barefoot in a remote region of Brazil.

Anton Pilipa, 39, disappeared in 2012 and is thought to have undertaken his 10,000 mile journey across two continents by walking and hitchhiking.

Anton's brother Stefan admitted having "dark moments" about his disappearance, fearing he'd harmed or killed himself.

He discovered Stefan was still alive when a policewoman in Brazil tweeted a friend in Vancouver.

"I don't think I can explain that journey. We've got bits and pieces from him," said Anton.

"But he's a single minded individual and he just decided to walk and that's what he did. So he spent a long time walking."