Police were called to reports of a man walking along the A12.
Officers received reports of a man veering between the verge and the northbound carriageway at 8.40pm last night.
Numerous drivers had reported concerns for the man's welfare, including one that he appeared to have been drinking.
The police helicopter helped to the find the man near to the first Witham turn off and directed officers on the ground to him.
He was taken to his Witham home and an Essex Police spokesman said there was nothing in the reports to suggest he was drunk.