Whitby Coastguard were alerted at 3.15pm to assist Whitby RNLI bring in a pleasure boat whose engine had failed.
Coastguards attended the Fish Quay where they helped the RNLI's inshore lifeboat bring in the vessel as well as liaise with harbour staff, check on the welfare of the vessel's crew and give appropriate safety advice.
Whitby RNLI coxswain Howard Fields said: "While enjoying the coast it is important to always check over your equipment before setting off, always carry a means of calling for help and the correct safety equipment such as a life jacket.
"This minimises the risk of something going wrong out on the water."
Just after 6pm, both teams were called out again by reports that someone was in the water near Sandsend Ness.
When they were sure the swimmer was not in any difficulty, both crews were stood down.
A spokesperson for the RNLI thanked the person who had called with concerns.
"We would like to remind the public that it is always better to report a situation if they are in any doubt," said a spokesperson.
"The crew would always rather investigate a situation than leave it too late.
"With more people expected to visit the coast over the coming weeks, we would also like to remind people to check the tide times before they visit the beach and if you see anyone in difficulty, call 999 and ask for the coastguard."