If the temperature of the weather outside gets above freezing then the water pipes will thaw out eventually on their own but you should leave some faucets on to allow the water to move through the pipes when the ice in the pipes thaw out.
You can pour some cold water over frozen water pipes to help thaw them out or even use a hair dryer to apply heat the water pipe and then move the hair dryer back and forth to heat up the pipe which will eventually thaw the water pipes out.
Make sure you insulate the pipes after thawing them out or use some heat tape on them and leave faucets running at a slow trickle to prevent the water pipes from freezing again.