Coastguards made contact with the first informant on the cliff top to ascertain the exact location of the people.
Other members of the team went to the East Pier to make their way along the shoreline, make contact and assess the best way to extricate the casualties.
A member of the Whitby Beach Team from RNLI Lifeguards Yorkshire also made their way round on their personal watercraft and stood by ready to provide assistance.
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Two of the group were able to make their own way across the rocks to the East Pier, but the third needed assistance.It was decided that that person would be taken off by Whitby inshore lifeboat.
The casualty was reassured by Coastguards and helped down from the rocks and into the lifeboat. The group were reunited at the boathouse.
A Coastguard spokesperson said: "Whilst we want everyone to enjoy their activities at the coast, please ensure that you are well prepared.
"In particular remember to take appropriate equipment for the conditions including sturdy shoes or boots and check the weather forecast and tide times before you set out."
If you see anyone in trouble on the coast dial 999 and ask for the coastguard.
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