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Dartford Crossing was closed in both directions following reports of a man threatening to jump from the QEII bridge.
Emergency services responded to calls around 11pm and promptly sealed the area off to traffic in both directions.
Queues quickly developed on both sides of the Thames crossing as police and ambulance crews attended the southbound side of the A282.
Motorists were urged to avoid the area, but the restriction was lifted around an hour later, just before midnight.
The man was spoken to by police and taken to hospital.