The private aircraft went down about 23 miles (37 kilometers) southeast of Grand Turk Island in the Turks and Caicos Islands, on Tuesday afternoon, March 5.
After the accident, the Federal Aviation Administration contacted the USCG which sent a cutter and crew out of Puerto Rico and an aircraft out of Miami FL.
The Coast Guard saw the two people in the water, while the crew of Regal Princess worked to pull them.
Passengers onboard the 19-deck ship applauded the rescue which slightly detoured the vessel from its route to Saint Thomas.
Regal Princess was sailing on day two of a 7-day cruise and is due to be back at Port Everglades on Sunday, March 10.
For other Regal Princess accidents and incidents see at the ship's CruiseMinus page.