Such a lovely little story. Good that the kids feel comfortable enough to seek your help. I'd be
there too. I think bears are the only thing that I fear; I've encountered far too many.
Had a similar story with a baby raccoon stuck in our gate here in the city. Whimpering. His mom was just 1 foot away and I was reluctant to release him for fear of my ankles getting chopped up by mom; it is a very confined area. But of course, I did. She didn't move, but once he was through the gate, he followed me, not her, and sought me out all summer. No amount of scolding would convince him to stop following me.
What a nut! (me, not him)