Rod Stewart and Wife Enjoy Ibiza Superyacht Escape

 and his bikini-clad wife  relaxed on a lavish superyacht with their children during a sun-soaked Ibiza getaway on Sunday.

Penny, 55, looked incredible in a barely-there royal blue bikini while she rinsed off the salt water after taking a dip in the sea.

She covered her age-defying physique with a blue and white stripe shirt and matching sunhat. 

The rockstar, 81, kept cool in a white linen shirt as he enjoyed an afternoon in the sunshine. 

His thrill-seeking children plunged into the ocean after flying off the top of the superyacht.

Penny made the most of the hot weather as she topped up her tan on the sundeck.

The couple met back in 1999 when Penny was a student at Barking College, and Rod was performing. 

Penny and Rod welcomed their first son, Alistair, 20, in 2005, before going on to tie the knot in 2007, and welcoming their second son, Aiden, 14, in 2011. 

Prior to welcoming two sons with Penny, Rod was already a father to six children from previous relationships.

The star put his first child up for adoption, Sarah, 62, whom he welcomed with his ex-girlfriend Susannah Boffey when he was just 17. He later formed a relationship with her.

He then had daughter Kimberly, 46, and son Sean, 45, with his ex-wife Alana Stewart and a daughter Ruby, 38, with his ex-girlfriend Kelly Emberg.

While married to his ex-wife, Rachel Hunter, the Faces frontman had two more children, Renee, 33, and Liam, 31.

Previously discussing how they first met, Penny revealed it wasn't until nine months after exchanging numbers that Rod reached out to her.

They originally met in the wake of Rod's divorce from his second wife Rachel, whom he was married to from 1990 until 2006.

And anticipating that his best pal wasn't ready to meet the love of his life yet, Rod's band leader, Carmine Appice, withheld Penny's number from the musician until he was in a better place.

Recalling the story, Rod explained: 'He was an absolute gentleman, he was band leader and bass player, and he kept her telephone away from me.

'He didn't think I was in the right position because I had just got a divorce and didn't know if I was coming or going, and he said I will give it to you when I think you are ready.'

He joked: 'I should of fired him, but I couldn't!'

Penny then began to well up with tears as she added: 'Carmine had kept that telephone number away from him.

'He said "you are going to go a bit crazy over the summer and let your hair down, and Penny seems like a nice girl."'

After hearing nothing from her future husband, she explained: 'I really thought that was the last I would see of Rod. I remember processing those photos I took of Rod [at his concert] and thinking, what a lovely memory, and that was that.'