Authorities recovered the body of a 20-year-old New Hampshire man from a cove in Bar Harbor on Thursday night, the Maine Department of Marine Resources said in a statement.

Gregory Taylor, of Hudson, New Hampshire, was kayaking in the area when he came ashore around 3 p.m., removed his life jacket and entered the water in Clark Cove, Marine Resources Communications Director Jeff Nichols said.

An eyewitness reported seeing Taylor struggling to swim. The Maine Marine Patrol and Maine State Police Underwater Recovery teams responded and recovered his body around 6 p.m., about 30 feet from the shore in 15 feet of water, Nichols said.

The marine patrol reported that the water in the cove was calm at the time, he said.

The Bar Harbor Police Department, Bar Harbor Fire Department, the Mount Desert Fire Department, the Trenton Fire Department and the Hancock County Sheriff’s Office also responded to the scene.

Taylor’s body was transported to an area funeral home and was scheduled for examination Friday morning, the Department of Marine Resources said.