Authorities made brief contact with the three people on board, but the people refused to disembark at first.
Once officers were alerted that it was a stolen vessel, police surrounded it with guns drawn. After a few hours, the trio agreed to be taken off of the yacht, jumping onto personal watercraft and being quickly ferried to shore.
The boat's owner was called out to work with authorities to have it removed from the beach, hopefully before it was ruined by the strong surf.
The Coast Guard said there were no signs of pollution from the boat.