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A 19-ft yacht containing its owner's "worldly possessions" was spotted 10 miles off the Kent coast following a 15-day search.
Detectives used helicopters and radar technology to locate the vessel, which was reported missing from a boatyard in Faversham on October 1.
After an initial search of the coast by investigators using a police helicopter and boat, nothing was found and the location of the yacht remained a mystery.
However on Sunday, the owner of the stolen boat contacted police, claiming it had been spotted 10 miles off Margate's shoreline.
Specialist officers set sail and used radar technology to locate the vessel, which had become stuck on a sandbank near the entrance to the Thames Estuary.
PC Ben Bowler said: "We towed the yacht for 16 miles until we reached the Swale, which took around two-and-a-half hours in choppy seas.
"It was safely brought to the shore at about 1pm on Monday.
"The 19-foot Seawych Yacht is now back with its rightful owner who was very grateful for its return, not least because it contained his worldly possessions."
Police are warning boat owners that although "the theft of a boat is rare", people should "take simple steps to avoid becoming a victim".
These include using security markings - particularly on expensive items - and ensuring the boat is well secured.
Anyone who has any information regarding the theft and has not already told police should call them on 01843 222289, quoting the reference number 46/190666/22.
They can also call Crimestoppers anonymously on 0800 555111.