They were called, alongside Met Police officers, to Princes Gate just after 6am.
Two fire engines, one fire rescue unit and a 32 metre turntable ladder were in attendance from Kensington, Chelsea and Soho fire stations.
The Brigade’s ladder was used by police to carry out negotiations with the person before they were brought to safety.
It was only last week that a man was arrested after scaling Big Ben’s Elizabeth Tower at the Palace of Westminster in central London.
