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Penny Lancaster puts on a glamorous display in plunging kaftan while paddling with son Aiden, four... before taking a dip in a bikini and T-shirt

Published: 19:11 EST, 23 August 2015 | Updated: 19:30 EST, 23 August 2015

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She's famed for her career as a lingerie model.

And Penny Lancaster proved her assets are still as ample as ever whilst spending a day at the beach with her husband Rod Stewart and their sizeable brood in Maui, Hawaii, on Saturday.

The 44-year-old star sported an array of beachwear as she soaked up the rays with her family on the tropical island.

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Quality time: Penny Lancaster and her husband Rod Stewart are currently soaking up the rays in Maui, Hawaii, where they are enjoying a family vacation

Playing around in the ocean with her son Aiden, four, the model-turned-photographer looked like the entrant of a wet T-shirt competition as she layered a colourful printed bikini beneath a simple white tee which got completely drenched whilst she splashed in the sea with her son.

Penny was attempting to help both Aiden and son Alastair, ten, body board, though her efforts soon saw her descend beneath the waves, drenching her previously preened blonde locks.

Nevertheless, her little ones looked to be having a great time as they entertained themselves on their boards, as did the former face of lingerie brand Ultimo who emerged from the water laughing after her wet ordeal, her sodden straw hat limping in her hand.

Dapper in blue: Rod looked typically cool in a pair of blue swim shorts which he dressed up with a blue shirt that was slightly unbuttoned

Totally transparent! Penny looked like she was the entrant of a wet T-shirt competition in a white design that became completely see-through after she submerged into the water

Hold on! The model made sure to avoid a major wardrobe malfunction as she rearranged her bikini top after slipping into the ocean

Fun in the sun: Penny splashed about in the sea with her son as they attempted to body board in the rippling waves

The former Strictly Come Dancing contestant was also seen rearranging her bikini top, which almost billowed south once she went under.

But her tropical print bikini, which also featured a contrasting leopard print pattern, and wet T-shirt was just one of two swimwear looks Penny donned during their day at the beach.

The Essex-born beauty also rocked a simple black bikini beneath a patterned kimono.

Family affair: Rod's daughter Kimberly Stewart was also on the vacation and was seen carrying her daughter, Delilah Del Toro, down to the beach

Outfit change! Penny was also seen rocking a patterned black tunic, which she layered over a simple black two-piece

Lots to talk about: Rod and his son Liam, 20, engaged in deep conversation as they made their way down to the beach along a tree-lined path

Like father, like son! The professional ice hockey player looked handsome in a pair of floral swimshorts

Bonding: Penny and son Aiden, four, put on a cute display as they walked in the sea together

Put your feet up! Rod and Penny were also seen enjoying some time alone as they relaxed on sun loungers on the beach

Her blonde locks, which were partly concealed beneath her straw hat, were worn in a naturally wavy style and her eyes were shielded from the rays beneath a pair of aviator sunglasses as she cooled off in the ocean carrying her son Aiden, four.

The mother-son duo looked the perfect family picture as the youngster, who was clad in orange board shorts, smiled and laughed whilst holding on tight to his mum as they jaunted through the rippling tide.

But Aiden and Alastair were just two of Rod's brood who joined Penny and himself on holiday.

Listen up! Penny and Rod's daughter Ruby, 28, helped to guide Alastair on how to use his body board

Changing it up! Penny's tropical print bikini, which also featured a contrasting leopard print pattern, was just one of two swimwear looks she donned during their day at the beach

Flipping heck! Liam was seen carrying his flippers as he left the ocean after a lengthy swim

Fashionista: Rod's daughter Kimberly - with whom Rod shares with ex-wife Alana - took to the beach in style in a patterned tunic

Beach babe: Renee Stewart, 23, looked stunning as she entered the water in a string blue bikini, her brunette locks cascading around her face

Leggy display: Penny highlighted her long legs in the printed design as she headed back to her sun lounger

Also accompanying them were Rod's children Kimberly, Ruby, Renee and Liam, who are from the singer's previous relationships.

His daughter Kimberly - with whom Rod shares with ex-wife Alana - took to the beach in style in a patterned tunic.

Protecting her face from the sun, the 36-year-old sported a cream sun hat and a pair of reflective circular sunglasses whilst carrying her daughter Delilah, four, who is fathered by The Usual Suspects actor Benecio del Toro, down to the beach.

Oh, dear! The model looked a little disorientated after she was submerged into the water after attempting to help Alastair use his body board

Glam: Penny's blonde locks, which were partly concealed beneath her straw hat, were worn in a naturally wavy style and her eyes were shielded from the rays beneath a pair of aviator sunglasses

Having fun? The daughter of Rod's ex-wife Rachel Hunter, looked to be revelling in her swim as she even took to the water with a pair of large goggles, perfect for ogling at the exotic fish that glided amongst them

Au naturel: Renee showcased her natural beauty as she exited the water make-up free

What a beauty! Renee - who is signed to Storm Artists Management - looked incredibly fetching as she cooled off in the sea

Wonderful in white: Penny headed down to the beach in a white T-shirt and tiny shorts combo

Delilah looked adorable in a shimmering aquamarine dress, which looked like the type of sparkling design any little girl would be eager to get their hands.

Kimberly's brother Sean, 34, was likewise seen heading down to the white shores in a pair of camouflage-printed board shorts and a grey shirt, which he left unbuttoned to reveal his tattooed torso.

Rod's daughter Ruby - from his eighties romance with model Kelly Emberg - was also on the trip, with the 28-year-old mannequin showcasing her toned bikini body in a stylish two-piece which featured daring cut-out strips in the bottoms.

At one point the blonde enjoyed a Baywatch moment as she ran across the beach, her wet locks swept back from her face, following a dip in the crystal blue waters.

Off he goes! Kimberly's brother Sean, 34, was likewise seen heading down to the white shores in a pair of camouflage-printed board shorts and a grey shirt, which he left unbuttoned to reveal his tattooed torso

Effortless: Shaun left his brown locks untamed as he prepared to hit the waves

Looking good! Rod's daughter Ruby was also on the trip, with the 28-year-old mannequin showcasing her toned bikini body in a stylish two-piece which featured daring cut-out strips in the bottoms

Plenty of sparkles: Delilah looked adorable in a shimmering aquamarine dress, which looked like the type of sparkling design any little girl would be eager to get their hands

Like a movie! At one point the blonde enjoyed a Baywatch moment as she ran across the beach, her wet locks swept back from her face, following a dip in the crystal blue waters

Laughing it off! The former face of lingerie brand Ultimo emerged from the water laughing after her wet ordeal, her sodden straw hat limping in her hand.

But Ruby wasn't the only bikini-clad daughter of Rod's on the beach as his stunning daughter Renee also hit the sand.

The stunning 23-year-old - who is signed to Storm Artists Management - put her tanned beach body on full display in a stringy navy bikini.

The daughter of Rod's ex-wife Rachel Hunter, looked to be revelling in her swim as she even took to the water with a pair of large goggles, perfect for ogling at the exotic fish that glided amongst them.

Giggles: Penny and Ruby were seen laughing together as they spent some quality time in the crystal blue ocean

Not cool! Alastair didn't seem too impressed by his mother's fall into the water

Can't miss him! Rod was also seen stepping out in blue vest top and luminous yellow shorts

Having a blast! Aiden and Penny laughed together in the sea

Fidgeting: Rod looked to find the sun loungers a tad uncomfortable

Both of Rachel's children with Rod joined their father on the trip, with their son Liam, 20, frequently chatting to his father - who was clad in a blue vest top and luminous yellow shirts, along with a white straw hat - as they walked along a tree-lined path that took from their hotel down to the beach.

The handsome youngster rocked a pair of floral swim shorts for his frolic in the balmy climes and left his thick brown locks in an untamed style.

Liam is a professional ice hockey player, who made his debut for Great Britain earlier this year.