In overcast conditions, the lifeboat William Henry Liddington launched within six minutes of the initial request and made their way across Donegal Bay to the scene on the Rossnowlagh side of Murvagh.
The Sligo-based Irish Coast Guard helicopter Rescue 118 also launched to the scene.
Upon arrival, the RNLI crew found that the family of four from Northern Ireland had made their way safely to shore. A member of the crew went ashore to ensure that the family were okay.
"Thankfully the family were wearing lifejackets, otherwise this could have been a much more serious situation," said Bundoran RNLI helm Brian Gillespie.
"We would remind sea and water users to always wear a lifejacket when heading for the water and as always if a member of the public sees someone in danger on the water to call 999 or 112 and ask for the coastguard."