The baton is making its way around the UK before reaching Birmingham later this month, home of the Commonwealth Games 2022.
Whitby RNLI launched their all weather lifeboat George and Mary Webb as well as the smaller D Class lifeboat at 5pm this evening (Wednesday 13 July) and headed South to Robin Hood's Bay.
As they approached Robin Hood's Bay Andy Brighton, 21, transferred from the all weather lifeboat to the inshore lifeboat to land on the slip way in the village and collect the baton.
There were crowds gathered in the village as RNLI volunteer Andy arrived and took the baton aboard the lifeboat. He then made his way back to the the all weather lifeboat for the voyage back to Whitby.
Just after 6pm the lifeboat arrived in Whitby, and Andy held the baton on the bow as it crusied through the famous piers and into Whitby harbour.
Crowds had gathered to see the Baton at the Fish Pier near the lifeboat station and the rowing clubs formed an arch of oars for the Baton to be carried through on the next step of its journey up to Whitby Abbey.
Andy Brighton said: 'It is a real honour to have taken part in the Queen's Baton relay, it is an experience I will never forget. The sun was shining and it was great to see people out and about waving as we brought the baton into Whitby.'
Key facts about the RNLI
The RNLI charity saves lives at sea. Its volunteers provide a 24-hour search and rescue service around the United Kingdom and Republic of Ireland coasts. The RNLI operates 238 lifeboat stations in the UK and Ireland and more than 240 lifeguard units on beaches around the UK and Channel Islands. The RNLI is independent of Coastguard and government and depends on voluntary donations and legacies to maintain its rescue service. Since the RNLI was founded in 1824, its lifeboat crews and lifeguards have saved over 142,700 lives.
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