The kids are seen swimming in the sea, with their parents throwing decorum to the win and jumping into the water from the royal ship.
The family also spent plenty of time on land, enjoying lots of kid-friendly adventures around the coast.
'It was a great experience to get out into the terrain with the family, find objects using maps and try the obstacles on the obstacle course,' the family said in a statement.
'We tried our hand at blowing glass at the working workshop Backhaus-Brown and Glassmedjen, and then we also visited the carpentry workshop Egeværk,' Princess Mary said.
'We were also past the polar scientist Knud Rasmussen's home. He could tell my husband many stories about the children. It was a lovely day.'
What a lovely family. Wish we were there!