Two people were feared to be in the water off the North Norfolk coast after a kayak was found overturned in the water.
The sighting of the kayak sparked a rescue operation when the alarm was raised a mile north of Burnham Overy Staithe.
It was thought two people had been inside the boat and so the Wells inshore lifeboat team were sent to investigate.
The all-weather lifefboat was then launched to help in the search for the missing crew, but was stood down after the missing persons were found safe on the shore.
Operations Manager Chris Hardy said. "From the land it looked as if there were two people on board and you can't take chances with situations like this. I am pleased that it all ended well in this case."