Two pre-teens in an 8-foot rowboat were blown off the beach near Candlestick Point State Recreation Area shortly before 4:30 p.m. and into San Francisco Bay, U.S. Coast Guard Chief Petty Officer Mike Lutz said.
Three adults on shore attempted to swim into the water to assist, but then were unable to get back to shore themselves, Lutz said.
The Coast Guard responded along with boats from San Francisco police and fire and the South San Francisco Fire Department.
A Coast Guard boat rescued the two children and one adult from the bay as well as the remaining adults.
One adult was found to be suffering from mild hypothermia. All five victims were examined and released.
KGO contributed to this report.