sentences:  Pleasure vessels acquired the name "yacht" after the time of Charles II, who spent time exiled in Europe and visited the Netherlands, where a variety of "jachten" were already well developed as pleasure boats for the elite classes since the beginning of the 17th century.Upon his restoration to the English crown, Charles commissioned a series of royal yachts, which included at least one experimental catamaran.The first recorded yacht race between two vessels occurred in 1661, followed by the first open sailing competition in 1663 in English waters.