HM Coastguard scrambled to the scene in North Yorkshire in an area notorious for landslips, after receiving a 999 call from the public on Saturday, February 27 at 1pm.
Emergency service personnel found the family in a tent around six feet from the edge of a sheer precipice.
Coastguard rescue officers from Staithes and Whitby attended and gave the couple "safety advice due to the dangerous location of their tent".
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Police were also called because the group had breached Covid rules by travelling there, according to the coastguard.
The family had pitched themselves on a patch of grass on North Yorkshire's Cleveland Way, which is an area notorious for landslips.
Adam Turner, of HM Coastguard said: "The family were in an extremely perilous position and had no idea of the danger that they were in.
"Cliff edges are really unstable and can easily collapse as recent landslips have shown.
"If you live near the coast and are in a position to take your exercise there in line with current COVID-19 restrictions, please take care near cliffs.
"Keep to paths and stay well back from the cliff edge.
"Check the weather and tides before you head out, wear appropriate sturdy footwear and take a fully charged mobile phone so if the worst should happen you can call 999 and ask for the Coastguard."
In a statement on Facebook, Staithes Coastguard said: “Safety advice was given from Coastguard rescue officers due to the dangerous location of their tent, especially with recent landslips.
“An officer from North Yorkshire Police also attended due to breach of coronavirus restrictions.”
The statement added: “If walking the Cleveland Way please stay on designated footpaths.”