The monarchs were seen at the the Monographic Museum and Necropolis of “Puig des Molins”, the best preserved necropolis in the Mediterranean region. The visit comes as the Spanish royal palace confirmed the whereabouts of Juan Carlos, who left the country for the United Arab Emirates earlier this month.
The former king faced intense scrutiny after an inquiry was launched on his finances following a major corruption plot.
He is believed to be staying with his “most faithful friend for the past 40 years”, Mallorcan interior designer Marta Gaya.
The pair 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 his personal issues to interfere in his son Felipe’s duties.
He did not reveal his destination at the time.
King Felipe VI has not addressed his father’s decision to leave Spain.
Spanish authorities have launched an investigation on whether Juan Carlos received a secret commission for helping secure a £5.5 billion Saudi rail deal.
His former mistress, German-born Danish entrepreneur Corinna zu Sayn-Wittgenstein, made the allegations during a private conversation.
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Royal expert and author Pilar Eyre said last week that Juan Carlos and his wife Sofia have not shared a bedroom since she found him with another woman on a 1976 hunting trip.
Writing for Spanish magazine Lecturas, she said: “The king is not alone.
“His faithful friend for the past 40 years is with him, the person who forgives everything, never fails him, accompanies him, comforts him.”
She added: “They have experienced a wonderful love affair and face their future together hand in hand.
“Juan Carlos, who has been so courageous on other occasions, should show himself publicly with her.
She added: “He owes it to her, and also to us.”
According to Spanish historian Amadeo Martinez Ingles Juan Carlos has had around 5,000 lovers throughout his life.
But several Spanish news outlets have dubbed his loyal friend Ms Gaya as the “love of his life”.
Juan Carlos ascended the throne in 1975 following the death of Spanish dictator Francisco Franco.
Felipe VI became King of Spain in 2014 following the abdication of his father Juan Carlos.
