Felipe, who regularly took part in the annual challenge when he was the Prince of Asturias, took time out of his increasingly busy schedule to join in the third day of the regatta, which is now in its 33rd year.
Earlier in the day King Felipe hosted an audience with numerous dignitaries including the President of the Balariac Islands and the Mayor of Palma de Majorca, before hopping aboard a boat named Aifos to show off his sailing skills.
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Dressed like his team mates in a white cap, polo shirt and navy shorts branded with Aifos' logo, the king looked relaxed as the boat cruised through the crystal blue waters.
Felipe, who was a member of the Spanish Olympic sailing team at the Barcelona Games in 1992, beamed as he took the helm.
After disembarking from the boat, Felipe stopped to pose for pictures with the young fans waiting at the port.
Felipe and his wife Queen Letizia arrived in Majorca for their annual holiday on Tuesday.
Accompanied by their two daughters Princess Leonor and Princess Sofia, the family headed straight to the Marivent Palace to undertake their first engagement – an official photocall in the lavish grounds.
The summer holiday will have come as a great welcome to the Spanish royals, as the past months have seen Felipe and Letizia travel around Europe in their first official overseas tour as king and queen.
Just like summers past, the family-of-four will now spend their trip taking in the local sights and surroundings.