The monarchs were seen at the Monographic Museum and at the Necropolis of “Puig des Molins”, the best preserved necropolis in the Mediterranean region. The visit comes as Spain’s royal palace confirmed the fate of Juan Carlos, who left the country for the United Arab Emirates earlier this month.
He is believed to be staying with his “most loyal friend for 40 years”, Mallorcan interior designer Marta Gaya.
The couple are reportedly staying in a £ 10,000-a-night presidential suite at the Emirates Palace Hotel.
The former monarch announced his departure on August 3, explaining that he did not want his personal issues to interfere with the duties of his son Felipe.
He did not reveal his destination at the time.
King Felipe VI did not respond to his father’s decision to leave Spain.
Spanish authorities have launched an investigation into whether Juan Carlos received a secret commission for helping to secure a £ 5.5 billion Saudi rail deal.
His former mistress, German-born Danish entrepreneur Corinna zu Sayn-Wittgenstein, made the allegations in a private conversation.
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Royal expert and author Pilar Eyre said last week that Juan Carlos and his wife Sofia had not shared a room since finding him with another woman on a hunting trip in 1976.
Writing for the Spanish magazine Lecturas, she said: “The king is not alone.
“His faithful friend for 40 years is with him, the person who forgives everything, never misses him, accompanies him, comforts him.
She added: “They have had a wonderful love story and face their future hand in hand.
“Juan Carlos, who has been so brave on other occasions, should show up publicly with her.
She added, “He owes it to her, and also to us. ”
According to Spanish historian Amadeo Martinez Ingles, Juan Carlos had around 5,000 lovers in his lifetime.
But several Spanish media have dubbed his faithful friend Mrs. Gaya “the love of his life”.
Juan Carlos ascended to the throne in 1975 after the death of Spanish dictator Francisco Franco.
Felipe VI became King of Spain in 2014 following the abdication of his father Juan Carlos.