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Shirtless rocker Rod Stewart, 77, joins swimsuit-clad wife Penny Lancaster on a yacht in Tuscany

They have taken their family for a summer vacation to Italy.

And Rod Stewart and wife Penny Lancaster seemed to be soaking up the sun on their journey, relaxing on a luxury yacht off the coast of Elba Island.

The British rocker, 77, and his police officer wife, 51, are believed to be staying at St David’s, which sleeps 12 people and costs a dazzling £274,000 a week.

Luxury living: The British rocker, 77, and his policewoman wife, 51, are believed to be staying at the St David, which sleeps 12 people and costs a dazzling £274,000 a week

Suck it up! Rod Stewart and wife Penny Lancaster seemed to be soaking up the sun on their journey, relaxing on a luxury yacht off the coast of Elba Island

Rod showed off his muscular torso as he wore his shirtless in just a bright yellow swimsuit, which emphasized his glowing tan.

The sailing singer dried off with a white towel after a swim in the ocean with his glamorous wife, where they were also seen relaxing on an inflatable boat.

Penny looked fabulous in a printed bathing suit, while also wearing sunglasses and keeping her phone safe in a waterproof case.

Soft Yellow: Rod showed off his muscular torso as he went shirtless in just a pair of bright yellow swimming trunks, which emphasized his glowing tan

Soft Yellow: Rod showed off his muscular torso as he went shirtless in just a pair of bright yellow swimming trunks, which emphasized his glowing tan

Reclining: The sailing singer dried off with a white towel after a swim in the ocean with his glamorous wife, where they were also spotted relaxing on an inflatable boat

Reclining: The sailing singer dried off with a white towel after a swim in the ocean with his glamorous wife, where they were also spotted relaxing on an inflatable boat

The pair appeared to be in vacation mode as they reclined on the bouncy castle, along with their sons Alistair (16) and Aiden (11).

Rod, who wore a white flat cap, was also seen swimming in the sea with his wife as they cooled off from the Italian sun.

Ever the lord, Rod was seen helping Penny back onto the ship as she climbed the steps of the boat after their dive.

Family: The couple appeared to be in vacation mode as they reclined on the bouncy castle, along with their sons Alistair (16) and Aiden (11)

Family: The couple appeared to be in vacation mode as they reclined on the bouncy castle, along with their sons Alistair (16) and Aiden (11)

Glam: Penny looked fabulous in a printed bathing suit, while also wearing sunglasses and keeping her phone safe in a waterproof case

Glam: Penny looked fabulous in a printed bathing suit, while also wearing sunglasses and keeping her phone safe in a waterproof case

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Reclining: The 197ft motor yacht, from the Italian shipyard Benetti, features six guest cabins and can accommodate 14 crew members

Reclining: The 197ft motor yacht, from the Italian shipyard Benetti, features six guest cabins and can accommodate 14 crew members

Helping Hand: Rod, once the lord, was seen helping Penny back onto the ship as she climbed the steps of the boat after their dive

Like this: Rod stood at the edge of the boat as Penny climbed the stairs

Helping Hand: Rod, once the lord, was seen helping Penny back onto the ship as she climbed the steps of the boat after their dive

The 197ft motor yacht, from the Italian shipyard Benetti, has six guest cabins and can accommodate 14 crew members.

The superyacht comes with a wide range of amenities, including a fully equipped gym, Jacuzzi and numerous toys including wave runners, sea bobs, wakeboards and kayaks.

Penny and Rod were joined by his daughters Kimberly, 42, Ruby, 35, and Renee Stewart, 30, on the family outing.

Cool Mom: Penny looked fabulous in a printed bathing suit, while also wearing sunglasses and keeping her phone safe in a waterproof case

Cool Mom: Penny looked fabulous in a printed bathing suit, while also wearing sunglasses and keeping her phone safe in a waterproof case

Boat Days: The superyacht comes with a wide range of amenities including a fully equipped gym, Jacuzzi and a host of toys including wave runners, sea bobs, wakeboards and kayaks

Boat Days: The superyacht comes with a wide range of amenities including a fully equipped gym, Jacuzzi and a host of toys including wave runners, sea bobs, wakeboards and kayaks

His sons Sean, 41, and Liam Stewart, 27, and the children he shares with Penny, Aiden, 11, and Alastair, 16, also joined them.

Rod shares Kimberly and Sean with ex-wife Alana Stewart, Ruby with model ex Kelly Emberg, and Renee and Liam with ex Rachel Hunter.

The family keeps their social media followers updated about their holiday antics on their Instagram pages.

Wow: Penny pulled herself out of the water after a dive

Wow: Penny pulled herself out of the water after a dive

We swim!  Chillen: Rod, who wore a white flat cap, was also seen swimming in the sea with his wife as they cooled off from the Italian sun

We swim! Chillen: Rod, who wore a white flat cap, was also seen swimming in the sea with his wife as they cooled off from the Italian sun

Chilling: Penny and Rod were seen with their sons Alistair and Aiden

Chilling: Penny and Rod were seen with their sons Alistair and Aiden

Vacation!  The family keeps their social media followers updated about their holiday antics on their Instagram pages

Vacation! The family keeps their social media followers updated about their holiday antics on their Instagram pages

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