They stopped at different destinations in Italy while staying on a luxury £274,000-a-week superyacht.
And Rod Stewart, 74, spent some quality time with his second eldest child Kimberley, 42, during their vacation on Thursday as the family arrived on Ponza Island.
During the day out, Kimberley looked amazing in a pink paisley maxi dress as she strolled with her famous dad.
Family day out: Rod Stewart, 74, spent quality time with his second eldest child Kimberley, 42, during their luxurious vacation in Italy on Thursday
The blonde beauty showed off her tanned, toned arms and legs in a flowing dress that featured a v-neckline and spaghetti straps.
The mother-of-one finished the look with a clutch and a pair of tan strappy sandals.
She also let her blonde locks flow freely as she decided to protect her face with a pair of dark sunglasses.
Meanwhile, Rod looked typically stylish as he teamed a pair of eye-catching striped shorts with a baggy white t-shirt.
Catching the rays: This comes after Rod Stewart’s other daughter Ruby, 35, was also spotted catching rays earlier today
Luxury vacation: As she enjoyed some downtime on the luxury yacht with her family
Stunning: The American model and singer looked sensational and ready for the holidays in a beige one-piece swimsuit that showed off her toned figure
The singer-songwriter also decided to accessorize her look further with a pair of reflective sunglasses and wore some quirky jewelry.
Rod Stewart’s other daughter Ruby, 35, was also spotted taking some rays earlier today as she enjoyed some down time on the yacht with her family.
The American model and singer looked sensational and ready for the holidays in a beige one-piece swimsuit that showed off her toned figure.
Sleek: Meanwhile, Rod strolled through Italy looking typically slick, pairing a pair of eye-catching striped shorts with a baggy white t-shirt.
Dad and daughter day: And was joined by daughter Kimberley who looked amazing in a pink paisley print maxi dress
Beauty: The blonde beauty showed off her tanned and toned arms and legs in a flowing dress that featured a v-neckline and spaghetti straps
Stylish: And the mother-of-one finished the look with a clutch and a pair of tan strappy sandals
She can also be seen wearing a large fedora hat with a pair of dark sunglasses to protect her face
The family are believed to be staying on the St David, which sleeps 12 and costs £274,000 a week to rent.
And the 197ft motor yacht has six guest cabins and can accommodate 14 crew members.
The super yacht also comes with a wide range of amenities including a fully equipped gym, jacuzzi and tons of toys including wave runners, sea bobs, wakeboards and kayaks.
And during Rod’s time on the yacht, he was joined by his wife Penny, 51, and three daughters Kimberley, 42, Ruby, 35 and Renee, 30, on the family trip.
His sons Sean, 41, and Liam Stewart, 27, as well as the children he shares with Penny, Aiden, 11, and Alastair, 16, have also joined.
Rod shares Kimberly and Sean with his ex-wife Alana Stewart, Ruby with ex-model Kelly Emberg and Renee and Liam with his ex Rachel Hunter.
And the big family kept their social media followers up to date with their holiday antics on their Instagram pages.
Gastronomy: During their stay in Italy, the family also spent quality time together in a restaurant during the day
Holiday antics: Where they enjoyed a sumptuous meal before heading back to their 197ft motor yacht which has six guest cabins and costs £274,000 a week to charter