A woman threatened to jump from a Chesterfield bridge in the second such incident of the month.
A member of the public called police at about 7pm on Sunday to say someone was on the bridge above the A61 bypass near Horns Bridge roundabout.
Officers closed the bypass and went to speak to the woman. They led her to safety and took her to hospital.
The bypass was reopened by about 7.30pm.
Earlier this month, on the morning of Monday, March 7, police rescued another woman who threatened to jump off the same bridge.
Traffic was stopped for several minutes as police spoke to the woman and led her to safety.