Flamborough RNLI launched on Saturday at 5pm following a report of a small dinghy with 2 adults and a child on board which had broken down off Danes Dyke.
Whilst volunteer crew were searching for the vessel in poor visibility a flare was set off from close to the outlet buoy.
Lifeboat was alongside the vessel at 5:17pm.
The dinghy was towed back to South Landing from where it had been launched.
Casualties were put ashore and given safety advise from HM Coastguard personnel.
Flamborough RNLI Lifeboat and launching tractor were cleaned and re-fuelled ready for the next call.
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