Emergency services were called to a bridge in Ripon after a woman was seen on the wrong side of the railings.
The incident on the A61 bridge began at 6.44pm.
Police, ambulance and fire crews from Ripon, Boroughbridge, Richmond and Selby were called to the scene.
A North Yorkshire Fire & Rescue Service spokesperson said: “Crews liaised with police on scene and set up downstream safety and swimmers whilst awaiting the arrival of a police negotiator.
“The female was brought back to the safe side of the railings and left in the care of the police.”