"We used a ladder across both rocks and a rescue line and successfully got them across.
They were not injured but were very cold from the rough conditions at sea," Mr Vaile said.
He said his firefighters have previously rescued people from rocks on that stretch of coastline but not from the spot they went to on Sunday.
Police from Maungaturoto spoke to the Aucklanders after the rescue.
Waipu police Senior Constable Martin Geddes called on people to have "commonsense", especially when sea conditions were rough. When rock fishing, people should know what the tides are like and to keep a close eye especially on the incoming tide. They probably didn't even know about the tides before going out," Mr Geddes said.
Police search and rescue incident controller Constable Jim Adamson said people who were ill prepared before venturing out to sea could quickly find themselves in trouble.
"These two had formal communications' equipment which was good. People should also have lifejackets on but our usual advice is around being better prepared, especially if you're unfamiliar with the area," he said.
He said sea conditions were quite rough on Sunday and had the two fallen into the water, they would have been badly bashed against the rocks.