( CNN ) -- A tip from an acquaintance of one of two convicted murderers who were mistakenly released from prison led to their arrests at a Florida motel , the commissioner of the Florida Department of Law Enforcement said Sunday . Charles Walker and Joseph Jenkins were unarmed when they were taken into custody Saturday evening in Panama City , where they were waiting for their ride to arrive from Atlanta , Gerald Bailey said . It was unclear where the men expected to go , he said . He said a `` close associate '' informed authorities that the men were in the area . Bailey said they were arrested by themselves without incident at the Coconut Grove Motor Inn . They had been in Bay County for only 48 hours , he said . Walker and Jenkins will be held without bail and make their next court appearances Friday , a Bay County , Florida , judge said Sunday . He said the two will be held with probable cause for one count each of escape . There will be more arrests , Bailey predicted . `` They had to have had help ( after their escape ) -- and a lot of help -- to get where they were last night , '' he said . The state Department of Corrections -- which mistakenly released the men , though it has insisted it was through no fault of its own -- said little about the arrests . Cell phone video obtained by CNN from another guest at the motel shows U.S. marshals storming the men 's room , guns drawn . Authorities had been searching for Walker and Jenkins , both 34 , after investigators discovered that the motions to reduce their respective sentences and court orders granting the requests had been forged . Both killers had been convicted and sentenced to life behind bars without the possibility of parole within two years of their crimes . In September 1998 , Jenkins killed Roscoe Pugh Jr. during a home-invasion robbery attempt . Six months later , Cedric Slater was gunned down on an Orlando street corner -- shot dead , a jury determined , by Walker . Jenkins left the prison in North Carrabelle , in the Florida Panhandle , on September 27 , and Walker left on October 8 , according to authorities . On Saturday , family members of both men denied any knowledge of the escape plans . The legal-looking documents the men used contained bogus reproductions of several key players ' signatures , including those of the Orlando-area State Attorney Jeffrey Ashton or the assistant state attorney and Judge Belvin Perry . They bore the seal of the Orange County clerk of court 's office . `` They are excellent fakes , '' Perry said . The judge said his signature is easy to find online on documents related to the high-profile trial of Casey Anthony . Anthony was acquitted in the death of her 2-year-old daughter , Caylee . `` People , particularly people with criminal minds , come up with ingenious ways to beat the system , '' Perry said . `` They have nothing but time on their hands to think of things . '' He stressed to CNN 's Don Lemon on Sunday that he had nothing to do with the cases in question -- that they were assigned to other judges . `` When your name and documents that you 've signed are plastered on the Internet for anybody and everybody to see , and someone with basic knowledge can paste and cut your signature , it does n't surprise me that it did happen . It was just a matter of time , '' Perry said . `` It shows that we need to do a little bit more in authentication of documents . '' Prosecutors learned about what happened after a member of Walker 's family contacted them , Ashton , the state attorney , said . An October 8 letter from the Department of Corrections to Slater 's mother , Evangelina Kearse , notified her a `` court order and amended sentence caused ( Walker 's ) sentence to expire . '' `` Please be aware that recent actions causing the release of this offender are beyond our control . Nevertheless , we apologize for the delay in this message , '' it said . Mike Crews , secretary of the Department of Corrections , said he was confident in the procedure to release prisoners , but `` obviously there was a gap somewhere . '' From now on , prison officials will be required to check with the judge to make sure a release order is legitimate , he said . Bailey said there have been two other instances in which inmates attempted to use false documents to gain release , but officials prevented them from escaping . Both Walker and Jenkins appeared to play by the rules after their release . They went to the Orange County jail to register as felons -- Jenkins on September 30 , Walker on October 11 -- as required by law . Though their releases may have initially seemed legitimate , the two convicts later were classified as escapees . CNN 's Nick Valencia , John Zarrella , Kim Segal , Chelsea J. Carter and David Simpson contributed to this report .
NEW : Video shows U.S. marshals storming men 's motel room . Men held on one count each of escape , due back in court Friday . Comment: Both had been sentenced to life without parole .