Alright so I'm gonna explain time dilation and special relativity in this case.
So for Cooper and Brand time was moving at a different rate for them. Coop was 124 based on the number of years that had passed on Earth when he was found and returned.
Your body ages and reacts relative to time. So their bodies were still pretty young considering time was moving a lot slower where they were. Brand would still be alive by the time Cooper got there.
They all survived because Cooper's daughter figured shit out and saved everyone by doing cool shit.