Crown Princess Mary and Prince Frederik of Denmark have touched down in Australia for their Christmas holiday.

And it seems the royal couple are keen to make the most of their time in the Princess' home country, with the duo taking part in a yacht race just hours after their arrival.

As keen members of the sailing community, it's no surprise they were eager to get behind the wheel of champion maxi yacht, Wild Oats XI, for the Big Boat Challenge on Sydney Harbour on Tuesday.

Dressed in the crew's signature red and white uniform, the VIP pair blended in with their fellow crew members as they sailed towards the start line.

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Crown Princess Mary and Prince Frederik of Denmark have touched down in Australia for their Christmas holiday

And it seems the royal couple are keen to make the most of their time in the Princess' home country, with the duo taking part in a yacht race just hours after their arrival

It seems the royal couple are keen to make the most of their time in the Princess' home country, with the duo taking part in a yacht race just hours after their arrival

The race, which takes place annually ahead of the esteemed Sydney to Hobart race, sees four of Sydney's most spectacular superyachts go head to head in a course around the famed harbour.

Wild Oats XI is the reigning champion and has been so since 2009.

Princess Mary was all smiles as she laughed and chatted to the crew - the 45-year-old toning down her look in favour of a white cap, white shorts and red shirt.

Playing the tourist, she also wore a large camera around her neck to ensure she captured every moment of their adventure.

As keen members of the sailing community, it's no surprise they were eager to get behind the wheel of champion maxi yacht, Wild Oats XI, for the Big Boat Challenge on Sydney Harbour on Tuesday

Princess Mary struggled to wipe the smile from her face as she stepped aboard

Mary appeared to know some of the crew members personally and was pictured having an animated conversation with several of them

Princess Mary looked completely at ease as she soaked in the picturesque surrounds

Frederik opted for a bucket hat and sea-worthy polarised glasses before swapping his hat to an official Wild Oats branded design.

The Danish royals are familiar with the boat, with Frederik boarding it in August during Audi Hamilton Island Race Week.

Unfortunately, Mary was unable to make it due to family commitments at home.

'She would love to be here,' Prince Frederik told Channel 7 at the time.

She also appeared to be willing to chat to people walking past the marina

As keen members of the sailing community, it's no surprise they were eager to get behind the wheel of champion maxi yacht, Wild Oats XI, for the Big Boat Challenge on Sydney Harbour on Tuesday (the couple are pictured right, relaxing)

Dressed in the crew's signature red and white uniform, the VIP pair blended in with their fellow crew members as they sailed towards the start line

In 2005, the pair also took each other on in a series of 20-minute yacht races on Sydney Harbour, where the Mary beat Frederik two to one.

The races were a rematch of another race Princess Mary, 45, had won before their wedding in Copenhagen the previous year.

According to the Daily Telegraph, it's rumoured that Prince Frederik could be planning to compete in the inaugural Sydney to Hobart race on the vessel, which kicks off on Boxing Day.

The Australian-born princess and her husband arrived with their four children ahead of a planned holiday with Mary's family.

In 2005, the pair took each other on in a series of 20-minute yacht races on Sydney Harbour, where the Princess beat Prince Frederik 2-1 (pictured competing in Sydney)

Princess Mary is pictured in 2005 while racing

Sailing has played a role in their relationship since the very beginning

'The Crown Prince couple travel together with their four children, TRH Prince Christian, Princess Isabella, Prince Vincent and Princess Josephine, to Australia and celebrate Christmas with the family of HRH The Crown Princess,' a statement from the palace read.

Princess Mary visited Australia with her family in 2015, as well as with Prince Frederik in 2013, but did not travel to Tasmania, Mary's hometown, on either trip.

The royal family's previous vacation in Australia garnered numerous headlines as they visited the likes of Perth, the Gold Coast, and Byron Bay.

Princess Mary is home for Christmas with her husband Prince Frederik and their four children Prince Christian, Princess Isabella, Prince Vincent and Princess Josephine

It has been two years since Princess Mary (seen in Byron Bay in 2015) has been in her home country, and six since she visited Tasmania

Princess Mary took a huge trip around the country two years ago, visiting tourist spots in Western Australia as well as Byron Bay (pictured) and the Gold Coast

Princess Mary and her family first stopped in Perth to spend quality time with her brother John Donaldson.

Donaldson took them to various tourist spots in the Western Australian countryside on a road trip through the rugged Great South.

The royal family then hit the beaches of the Gold Coast, making headlines when Prince Christian, who was 10 years old at the time, was swept off his feet by a strong current.

Princess Mary and her family opted to celebrate Christmas and Boxing Day in Byron Bay, where she also celebrated her sister's 50th birthday

The royal family also hit the beaches of the Gold Coast, making headlines when a then 10-year-old Prince Christian was swept off his feet by a strong current and was pulled out by a lifeguard

Princess Mary's eldest son, who is the heir to the Danish throne, was carried into a dangerous surf before a lifeguard paddled out and brought him to shore.

Nick Malcolm, the lifeguard on duty, said at the time that the prince didn't panic and was a 'really good swimmer'.

'It was just a standard rescue - doesn't matter that he's royal,' Malcolm told local papers.

Following the brief scare the royal family relaxed in Byron Bay for Christmas, where they were joined by a gaggle of Princess Mary's closest friends.

The Crown Princess was spotted enjoying everything from the Crystal Castles to surfing the waves as she celebrated her sister Jane Stephens' 50th birthday.

Although the royals have stayed at a family holiday house on the East Coast in the past, they opted for a luxury West Hobart rental home during their last visit to Tasmania, according to The Mercury.