The lifeboat was launched to help police search for someone who was reported to have entered the water off Gravesend Promenade.
A search was commenced yesterday just after 5.20pm.
A RNLI spokesman said: "Taking into account the tide and time, they may have entered the water from Northfleet Terminal to Cliffe Fort.
"A thorough search of the given area was undertaken with nothing being found."
Shortly after, the lifeboat was informed the person had been found safe and well ashore.
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