The volunteer Kyle of Lochalsh RNLI team received an urgent message at around 12.30pm on Friday as winds and waves picked up in the area.
The canoe had been out with two kayaks, but they lost sight of each other in the choppy conditions and called for help.
The lifeboat crew found the family of two adults and the young girl had safely made it to shore and were sheltering from the swell.
Two crew members went ashore and when it was established everyone was safe and well, the crew returned them to Toscaig where the group had set off from.
A Kyle of Lochalsh lifeboat spokesman said: “The family group consisted of five people in kayaks and a canoe. They were well prepared and set off from Toscaig in good weather, however the conditions soon worsened.
“The two kayaks lost sight of the canoe in the choppy conditions, and they did the correct thing by alerting the emergency services.”
Other rescue teams have also been busy in the good weather.
Cairngorm Mountain Rescue Team said it dealt with three incidents in 12 hours, including rescuing three walkers dressed in shorts, t shirts and sandals who got lost overnight on the Plateau.
All were found safe and well.