Three teenagers and a child drifted out to sea on paddleboards.
A parent from one of the groups became concerned and alerted the emergency services.
Officers from West Bay coastguard gathered equipment and headed for Eype Beach on June 14.
The Lyme Regis RNLI Lifeboat was also launched and started making its way to the area.
As officers and the lifeboat were arriving at Eype Beach, they received an update that the group had made it back to shore safely and they were all well.
Officers carried out a welfare check on the group, took details and gave safety advice as none of the four had been wearing lifejackets.
Coastguard advice is to wear a lifejacket or personal flotation device when heading out to sea in a leisure craft and to dial 999 in a cliff or coastal emergency.
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