Both people have since been assessed by Coastguard volunteers, and one was suffering from facial injuries, Ms Smith said.
They were currently being transferred by police launch to receive medical treatment, she said.
Emergency services were able to quickly locate the pair through good communication, Ms Smith said.
"We had an amazing response from coastguard volunteers, they're paged out of their homes in the middle of the night to go and rescue people.
"There was also a great team effort from Westpac and police and coastguard working together to get the outcome for them."
A spokeswoman for the Auckland Westpac Rescue Helicopter said helicopter crew were dispatched at 5.23am, and a boat was found run up on little Markham Island, at the southern end of Kawau Island.
The boat had crashed onto rocks the previous night, and the two men on board were located by Coastguard, she said.
Because one of the men was suffering from minor injuries, the decision was made not to winch them to safety.
"The decision not to winch is not given lightly and all options are considered, such as the medical status of the patients, conducting a winch in the dark, and the safety of the paramedic being winched onto wet rocks," rescue helicopter pilot Paul Robinson said.
The helicopter crew assisted police and the Coastguard by circling the scene, until the two men were safely off the rocks, and on the police launch Deodar.
