An Ontario family says it is struggling to make sense of the sudden death of their four-year-old daughter, whose body was found alongside her father's at the bottom of an escarpment west of Toronto.

The mother and stepfather identified their daughter Keira Kagan and her father Robin Brown to Global News Monday, hours after Halton Regional Police broke the news the two were found dead in Rattlesnake Point.

Halton Regional Police say a man and his four-year-old daughter have been found dead after the pair failed to return from a hike in Milton on Sunday.