Singer Rod Stewart, 81, and his wife Penny Lancaster, 55, were photographed enjoying a lavish superyacht vacation in Ibiza with their children on Sunday. The couple were seen relaxing on the vessel, with Lancaster in a royal blue bikini and Stewart in a white linen shirt.

Their children engaged in thrill-seeking activities, plunging into the ocean from the top of the superyacht.

Lancaster was also seen rinsing off saltwater after a swim and enjoying the sun on the sundeck. Stewart, a legendary rock musician, kept cool in the sunshine while his family enjoyed the water.Rod Stewart in a white linen shirt

The family appeared to be making the most of their time together, with various members taking turns jumping off the boat.The family taking turns to jump off the boat

Stewart and Lancaster, who met in 1999, have two sons together: Alastair, 20, and Aiden, 14. Stewart has eight children in total, with others from previous relationships including Kimberly, Sean, Ruby, Renee, and Liam, as well as an older daughter, Sarah, who was adopted.Alastair Stewart in swimshorts

Penny Lancaster previously shared how Rod's band leader initially withheld her phone number from the singer after his divorce, believing Stewart was not ready for a new relationship.Penny Lancaster on the yacht