A Lake Success-based company?s boat has arrived safely in Kenya after being attacked by Somali pirates Tuesday.

The M/V Liberty Sun, operated by Liberty Maritime Corporation, arrived in Mombasa escorted by the U.S. Navy. The ship was delivering humanitarian aid to Africa prior to being fired upon by pirates with automatic weapons and rocket-propelled grenades.

Military officials say the pirates left the scene and abandoned the attack before a destroyer arrived. None of the ship?s 20-person crew was injured.

AP wires contributed to this report.