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Traffic was held on the Queen Elizabeth II Bridge following reports of a distressed man seen walking across it.
Police were called to the Dartford Crossing at around 12.25am today after concerns were raised for his welfare.
Vehicles were held back while specialist officers spoke with the man.
Officers managed to persuade him to come down after about an hour.
Shortly afterwards, he was taken into the care of health professionals.
For confidential support on an emotional issue, call the Samaritans on 116 123 at any time.