Something similar happened to Elijah and Elisha in the Old Testament.
Genesis 5:24 Enoch walked with God; then he was no more, because God took him away.
Hebrews 11:5 By faith Enoch was taken from this life, so that he did not experience death; he could not be found, because God had taken him away. For before he was taken, he was commended as one who pleased God.
2 Kings 2 When the LORD was about to take Elijah up to heaven in a whirlwind, Elijah and Elisha were on their way from Gilgal. … The company of the prophets at Jericho went up to Elisha and asked him, “Do you know that the LORD is going to take your master from you today?” “Yes, I know,” he replied, “but do not speak of it.” … As they were walking along and talking together, suddenly a chariot of fire and horses of fire appeared and separated the two of them, and Elijah went up to heaven in a whirlwind