Charles, who wore a grey double-breasted suit with an Anzac poppy on the lapel, boarded the boat when it was docked at Princes Wharf at around 10.15am.
His wife Camilla, Duchess of Cornwall, did not attend the event.
A small crowd of royal watchers gathered on the quay to watch the Prince arrive.
Aboard the Spirit of Adventure, Charles met with the crew and voyaging students, who were from four different schools: Okaihu College in Northland, Dunstan High School in Alexandra, Waitakere College in Auckland and Naylan College in Nelson.
He shook hands with the students and asked them about their schooling and experience aboard the Spirit of Adventure.
"Have you all had a jolly time?" he asked the group.
The students were not shy in telling the Prince about their experiences, but that did not mean they were not a little awed.
One student said he would not wash the hand that shook the Prince's. "He's a very good chap," another said.
The visit lasted only 15 minutes but Charles spoke to almost every student and member of the crew.
The Spirit of Adventure takes high school students on voyages of up to ten days around the Hauraki Gulf. The youths learn leadership and teamwork skills, as well as gaining confidence.
Stephanie Bristol has been the cook aboard the vessel for three years. She loves watching the teenage voyagers bond and grow in confidence.
"The ten-day voyages are fantastic because you see the kids change so much," she said.
"They find they can do things they didn't think they could do."
Laura Garner, 15, of Waitakere College, said she was enjoying her time aboard the ship.
Her trip had involved a raft race, knot tying, quizzes and beach games - all activities that helped her gain confidence.
She was excited to meet the Prince, although she confessed her family were not avid royal-watchers.
"We pay attention to what they do, but we're not hardcore fans," she said.
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