How did icarus and Daedalus escape from the island?

Daedalus and his son Icarus were held prisoners on Crete by King Minos. Daedalus created wings for both of them, fastened by wax, so they could escape by flying.

Daedalus instructed Icarus not to fly too high, but Icarus's exuberance got the better of him. He flew too close to the sun and the heat melted the wax that fastened his wings. Icarus fell into the sea and drowned.