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"As we sailed back to Sydney we had some very special visitors," they wrote.
The crew told 7 News Australia they had been performing a routine cleaning of the ship's hull when the whales approached the boat.
Video shows the whales twirling about beneath the boat as crew members watch on in amazement.
"Somewhere way out to sea off NSW we were visited by the most magnificent giants of the ocean, this was an accidental encounter the Barefoot crew will never forget!" Barefoot Charters wrote on their Facebook page.