Princess Anne took a ride on the Staten Island Ferry Tuesday during a visit to the city.

The sister of Britain’s King Charles III was ushered to the ferry’s pilothouse as the Manhattan-bound ship — named the Sandy Ground after the oldest continuously inhabited free Black settlement in the U.S. — crossed the New York Harbor on Tuesday escorted by NYPD patrol boats. A fireboat greeted the ferry with a water display just before docking, according to silive.com.

New York City’s Department of Transportation shared a photo on their Twitter account of the royal family member taking the ferry Tuesday.

The ferry trip came after the princess was given a tour of Staten Island’s National Lighthouse Museum, which will soon undergo a multi-million dollar expansion. The visit to the museum included an unveiling of a miniature figurine of Needles Lighthouse, in the Isle of Wight, in memory of her parents, plus a commemorative bronze plaque marking the royal visit.

Staten Island Borough President Vito Fossella, Staten Island District Attorney Michael E. McMahon and state Assemblyman Michael Cusick also attended the tour.

Princess Anne is the only daughter Queen Elizabeth II, who died last month.

The princess attended a luncheon in Manhattan at The View at Battery Park after the ferry trip and praised the lighthouse museum in a speech, saying it tells the story of “lighthouses in our history, not just here, but in the UK and all over the world.”

“The lighthouse still has a really important part to play,” she said. “The story that goes with lighthouses and how we got here is just as important, and [the] museum has made an astonishing impact in telling that story.”

In her speech, Princess Anne noted that the UK doesn’t have a national lighthouse museum. Instead, the country just has a maritime museum, “which only tells a bit of the story,” she said in the speech.

On Monday, Princess Anne was honored at a gala dinner, hosted by the English-Speaking Union of the Commonwealth, on the Upper East Side’s Cosmopolitan Club.

Princess Anne's trip was in the works for two years, but COVID-19 travel restrictions and lockdowns delayed it, the National Lighthouse Museum said in a statement.