Arrive well before departure to explore Palma cathedral. Known as La Seu (the seat), it is one of the finest gothic cathedrals in Europe. Afterwards, nose around the quaint boutique shops and cafes of the old town – make sure you try an ensaïmada, a coiled pastry dusted with sugar, best dunked in hot coffee. Board the yacht at 6pm and set sail for Cala Portals Vells, a tranquil cove to the south. A welcome dinner will be served on board giving you chance to get to know the group. 

After breakfast, depart for Cala Pi, a secluded cove formerly occupied by pirates (you can still spot the ruins of a medieval watchtower). Tuck into lunch on board before setting sail for Colònia de Sant Jordi, a coastal town known for pristine white-sand beaches including Es Carbo – favoured by the Spanish royal family. Dive into the crystalline waters and dry off on deck. Head ashore for a cocktail on Avenue Primavera, before an evening meal back on board. 

This morning, head north to Cala Figuera, passing the Far des Cap de ses Salines, a remote lighthouse on the southerly tip of Mallorca. You’ll moor up for lunch in Cala Figuera, a traditional fishing village nicknamed Little Venice for the cluster of whitewashed houses that sits right on the river. Then, it’s on to Portopetro, a pretty harbour town dotted with fishing vessels. Sip a glass of white wine on deck before dinner under the twinkling night sky. 

The crew will hoist the sails, ready to head to Cala Santanyí, your idyllic swimming spot for the day. Picture an ivory-white beach, flanked by fragrant pine trees and rugged terracotta cliffs. Grab a snorkel mask and flippers, and dive into the impossibly clear waters. Look out for Torre Nova de la Roca Fesa, a 400-year-old lookout tower that stands sentinel over the bay. After lunch, kayak inside one of the luminous caves, followed by another delicious dinner back on the boat. 

Today is all about visiting the Cabrera Maritime-Terrestrial National Park, an archipelago of 19 islands only accessible by boat. Snorkel at the ready – it’s a haven for marine life, such as turtles, octopus, sea bream and wrasse. Thousands of migratory birds fly over the water, including audouin’s gull. Moor on the largest island, Cabrera, and stroll across to a 14th-century castle overlooking the harbour. Come sunset, you’ll sail back to Mallorca to spend the night at anchor by the secluded Es Caragol beach.

There’s a reason Es Trenc beach is one of the finest in Mallorca. Caribbean-style turquoise waters lap the white sand along this 3km (2mi) stretch, backed by a protected network of wild dunes. Spend the day beachcombing, swimming and sunbathing. Refuel at one of the chiringuitos (bars with shops), which serve Spanish snacks and cold beers all day, and play Latin American music from 6pm. 

Enjoy a lazy morning at anchor off Es Trenc, perhaps lounging with a book on deck or swimming off the bow. After lunch, head back to Palma. Admire the blissfully undeveloped landscape, punctuated by rocky inlets and quiet swimming coves, such as Calo des Cap d’Alt and Cala de Cap Falco. You’ll also cruise past the soaring cliffs of Cap Blanc, which are topped with a picturesque lighthouse. Tuck into a farewell dinner on the boat and toast a successful voyage with your fellow travellers.

It’s time to pack your bags and say goodbye to your new friends. Disembark the boat at 9am in Palma and make your way to the airport – or perhaps extend your stay a little longer.