The 62-year-old woman and her 21-year-old daughter were near the base of the falls when the mother suffered what has been described as a "seizure".

The daughter managed to find phone service to ring Triple 0 but by that time it was dark and they could not find their way out.

Emergency crews, including NSW Ambulance paramedics from Bomaderry and NSW Police, were called to the location, west of Nowra, around 5pm.

Rescue Paramedics Jason Trautman and Wes Foster responded from Bomaderry in the Shoalhaven Rescue Truck.

The location of the women was too dangerous for a helicopter winch, so Paramedic Trautman abseiled 70m to their location at the base of a cliff to assess the women's condition.

They were joined by SCAT Paramedics (Specialist Casualty Acces Team) Jason Watson and Rod Foster-Percy and all four personnel abseiled to the women's location.

Read more: Shoalhaven Meals on Wheels expands services thanks to new equipment

As it was dark it was decided not to walk the women out or haul them up the cliff, so it was decided to stay the night and wait for first light.

The women were provided food, water, warm clothing and sleeping bags.

At dawn the group found a route to the top of the cliff that was a "scramble" but didn't require roping.

National Parks and Wildlife Service personnel provided guidance along tracks from above.

It took around 40 minutes for the group to reach the cliff top.

The woman and her daughter did not need any further treatment or transportation to hospital.