A leisure yacht and its crew were stuck for several hours after the boat run aground at low tide.

The small rig had found itself beached along the River Thames at Invicta Wharf in Gravesend.

Volunteers from the RNLI were dispatched to help at around 5.13pm on Friday.

But the rescue crews decided against towing due to concerns over the severity of the ships tilting and the position of its mast.

Thames commander, Connor Edwards said: “We were launched to the vessel and arrived on scene along with the Port of London Authority.

“We quickly assessed that the vessel was listing too much to make safe tow.

“Their mast was very close to the walkway on shore which caused us concerns with the incoming tide, adding possibilities of movement and striking a member of the public.

“Therefore, the joint decision with the Port of London Authority was to take their anchor and lay it towards the middle of the River Thames to allow it to drift away as the tide floated in.

He added: “A welfare check was carried out on the causalities whom all remained with their vessel until it self righted with the tide.

“We advised not to attempt to leave due to the concerns of mud surrounding them and the high chance of becoming stuck.”

The RNLI lifeboat was then stood down, refuelled and made ready for service again by 6.50pm.

It wasn’t until 10.20pm that the yacht had self-righted and sailed away.