The skipper of an 11 metre charter boat called the UK Coastguard to report the vessel had machinery failure and they were unable to return to harbour on Wednesday afternoon.
The vessel had six divers aboard who had been diving on a wreck south of Pagham and were returning to Chichester harbour.
The Selsey all-weather lifeboat launched at 3.25pm on Wednesday, and headed to the position, 1.5 miles south west of Selsey Bill.
After arriving 13 minutes later, a line was passed to the vessel and at 3.45pm a tow was established between the lifeboat and other boat and a course was set for Chichester harbour.
The weather was wind south westerly force 1-2 sea state slight with overcast sky.
The tow continued into the harbour before reaching the vessel’s moorings at 5.10pm.
After the vessel was safely moored, the lifeboat made the return journey back to Selsey, arriving back at 6pm and rehousing straight away.
The crew were coxswain Martin Rudwick, 2nd cox Colin Pullenger, mechanic Phil Pitham, Pip Skeet, Harry Emmence and Terry Healy.