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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King Felipe aboard Aifos
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's sailing trip came amid a day of official meetings
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.