Police say the A165 Filey Road in Scarborough is now open after an earlier closure.
North Yorkshire Police say they attended a report of a woman in distress on a bridge over Filey Road in Scarborough just before 4pm today.
When they arrived, officers spoke to the woman, and the road was closed while emergency services worked at the scene.
The woman was brought down safely by the Fire Service at about 4.40pm, and will receive the support she needs.
Police have thanked motorists for their patience.
The closure had a knock on effect on roads in the town centre with long delays reported on Filey Road, Queen Margarets Road, the A64 Seamer Road and Westway through Eastfield.
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