Whitby’s two lifeboats and coastguard team were called out on Wednesday night after reports that two kayakers were in trouble.
Concerns were raised by another kayaker at around 9pm after the pair failed to return to shore at the expected time.
The all-weather and inshore lifeboats were carrying out an exercise when they were diverted to search around the Sandsend area.
A coastguard spokeswoman said: “They were found safe between Sandsend and Kettleness and returned to shore and safety advice was given. “They had just taken longer than expected.”