PICTURED: California mom Zaynab Joseph, 40, died after falling 140 feet down a cliff during a hike at Bear Mountain with her husband

A California mom-of-three has died after falling 140 feet down a cliff during a hiking trip in Arizona with her husband. 

Zaynab Joseph, 40, from Huntington Beach, California, was on a trip to Sedona where she was hiking Bear Mountain with her husband and one-year-old child when tragedy struck.

A group of hikers discovered Joseph during their trek along the mountain after she had already fallen down a cliff.

Hikers heard yelling and found Joseph, still alive but with serious injuries. 

One hiker called 911 and another rushed down the embankment to confirm that the mother was still breathing. Joseph tragically died shortly after.

Zaynab Joseph, 40, from Huntington Beach, California, was on a trip to Sedona where she was hiking Bear Mountain with her husband and one-year-old child when tragedy struck

A group of hikers discovered Joseph during their trek along the mountain after she had already fallen down the cliff

The sheriff's department sent search and rescue teams to the mountain embankment to recover Joseph's body - which they managed to do with the help of Arizona's Department of Public Safety. 

Following her deadly fall, Joseph's husband and their one-year-old baby were airlifted from the mountain - but the sheriff did not say if anyone else was hurt. 

The circumstances of Joseph's death are still not known and the circumstances of her apparent fall are under investigation. 

Joseph's sister posted a heartbreaking tribute on Facebook. 'My beloved sister, Zaynab Joseph, passed away yesterday in a tragic accident,' the post said.

'She had a heart of gold and was very dear to all of us. No words can describe the pain our families are going through, especially her husband and three young children.'

Another of Joseph's friends posted, 'We are heartbroken, we are shattered, but we know that you are in a better place. Your memory will live on in our hearts, in our minds, in our lives.'

Joseph tragically died shortly after the hikers found her and Sedona Fire officials pronounced her dead after being the first responders to arrive on the scene

Joseph and her family were staying in an AirBnB they were renting in Sedona during their trip

The Arizona desert town has a population of just under 10,000 - but the hiking hotspot attracts around three million tourists each year

Joseph and her family were staying in an AirBnB they were renting in Sedona during their trip. 

The Arizona desert town has a population of just under 10,000 - but the hiking hotspot attracts around three million tourists each year. 

Sedona's busiest season is Spring because temperatures sit in the mid 60s to low 80s - making it perfect weather for the outdoor activities on offer, including hiking and desert jeep tours. 

Hikes in Bear Mountain can range from challenging, steep climbs to peaceful walking paths. The classic loop trail is a popular choice - which includes some steep and rocky sections. 

Bear Mountain Trail is described as 'strenuous' and 'steep'. It leads hikers to the summit, according to the U.S. Forest Service.