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Coastguards were called on Saturday after the mother of an 18-year-old became concerned for his safety.
The teenager, thought to be from the Upnor area, had built a canoe and told his mother he would be using it and camping along the River Medway until Tuesday.
She raised the alarm when, after he started his journey near the Arethusa Venture Centre on Saturday, he failed to answer her calls to his mobile phone.
Medway Coastguards searched the area for about one-and-a-half hours but the search was called off at 3pm when he was spotted near Hoo marina and Medway Bridge marina at Rochester safe and well.