Thanks for the comments everyone! We had compasses (but only one landmark to take a bearing off of, not enough for triangulation) and our phone's GPS', but only occasionally was able to get signal for them. I had considered bringing my Garmin, but figured we'd be okay. Next time I will for sure.
A wise man once told me, "You're never actually lost, it may just take a little longer to get out of the woods."
The personalities of each of us really meshed well too. It could have been soo much worse if one of us had been fretting all the time, but all 3 of us were determined to make the best of it and have a good time, so we did!