According to the Ministry of Health, the Australian-registered yacht entered the country and was sighted in North Tanna on Sunday.
There was reportedly no direct contact with any individuals although a gift was passed via fishing hook and net.
Assessments and contact tracing have been carried out.
The ministry also received a report of a breach at a quarantine facility in Port Vila.
One of the repatriates who is in quarantine reportedly exited the room and tried to meet a visitor.
No one else was involved or came in close contact with the repatriate during the incident.
A statement approved by Len Tarivonda of the Health Incident Management Team, said there is no risk to the general public as a result of the breach.
Assessments by authorities indicate there is no risk to the public and individuals will be dealt with under the Public Health Act.