About Us

We Treat You Like Family On Your Tampa Bay Yacht Adventure.

We met in the Port of Tampa at Red Bull Flugtag 2011, watching human-powered flying machines take flight into Tampa Bay. We saw boats everywhere and commented how we wished we had that magnificent view from the water. Joel was born in Puerto Rico and grew up in Clearwater, and Marcia was born in upstate New York and moved to Tampa Bay in 2000. Since that day, we have traveled the world and have set foot in 21 countries, including living in Australia for two years. After all that travel and a dozen home addresses, our hearts brought us back to Tampa Bay where we started our lives, this time to set down permanent roots for our family.

Now with our three little girls, our pup Xena, and our cat Mr. Pickles, we are excited to share our dream with you as we guide you around to the best places in Tampa Bay and all the beautiful areas that Florida has to offer. We will cruise the stunning gulf waters using a vessel from our private luxury charter yacht fleet, which will enable us to provide you with your custom experience creating memories that will last a lifetime for everyone onboard. Freedom is just an anchor away, your adventure awaits in Tampa Bay, so… Let’s Get Underway!

Let’s Get Underway luxury charters is a Florida family, Hispanic, and Service-Disabled Veteran-Owned Small Business (SDVOSB).

Piniero family - Let's Get Underway - Tampa Bay Yacht Rentals

Priceless Experience

From sunset cruises to bachelorette parties to corporate events, we provide an unparalleled experience that you will never forget.

Custom Packages

We understand that every customer is unique and has their own preferences, which is why we offer custom packages tailored to their needs.

People Oriented

Our team is focused on providing outstanding customer service and is dedicated to ensuring that every client has a fantastic time.

Meet Our Captains and Crewmembers
Joel Pineiro, owner Let's Get Underway Tampa Bay Yacht Rentals

Joel Pineiro


I’ve spent over 20 years as a Global Business Consultant and international trade expert providing advisory services to organizations and senior executive leaders in Government Agency, Construction, Financial, Healthcare, and Defense sectors. After almost 30 years in the business world and the US Marine Corps, I decided to follow my love of the sea.

Being born in Puerto Rico and growing up in Clearwater Beach, FL, I have always loved the water and found it to be my most zen state. I’ve been boating since I was 5 years old, during and after military service, and now as a multi-yacht owner. During my time in Australia, I trained on a 56-ft commercial vessel to attain an AMSA Coxswain Grade 1 NC rating and continued my training under several USCG Captains in the US. I have captained recreational vessels all over the US, Australia, Bora Bora, and the Caribbean, have crewed sailing vessels, and as a PADI Master Diver have assisted on Dive Boats around the world.

Marcia Pineiro, owner Let's Get Underway Tampa Bay Yacht Rentals

Marcia Pineiro


My career in the Pet Grooming industry brought me to Florida in 2000. Once settled in, I used any excuse I could to be on the water and enjoying the breathtaking gulf waters and warm weather Florida has to offer. I always knew I wanted to have a life on the water and that someday I would transition my career to something that would make these dreams come true.

After over 20 years as a professional groomer, I’m so excited that day has finally come, and I am enjoying learning and experiencing all there is to be a Mariner. From consulting start-up businesses to event planning and extensive customer service, I am able to apply that expertise in offering and providing luxury concierge services for our vessels, with personally curated experiences and packages to suit all your needs.

Captain Jamie Schaffer Let's Get Underway Tampa Bay Yacht Rentals

Jamie Shaffer


I have over 20 years in the Maritime Industry, most recently as General Manager of The Maritime Training Center. I am a Maritime Professional qualified by substantial sea time navigating vessels as Master in North and South America, Pacific and Atlantic Oceans Gulf of Mexico, and the Caribbean. I have vast knowledge of the maritime field with an emphasis on Vessel Operations, Vessel Management, Towing Operations, Close Quarters Maneuvering, Navigation (Celestial and Terrestrial) Scheduling & Planning, Safety Training, and Maritime Education.

I have gained mastery in boat handling skills and various propulsion systems, and have skippered private Yachts, as well as Tugboats, Crewboats/Fast Supply, Offshore Supply, Pilot, Towing, and Commercial Passenger Vessels. I also have an extensive background in keeping vessels in compliance with all safety equipment, maintenance, and regulatory requirements. My time on pilot vessels in Tampa Bay and surrounding coastal waters gives me extensive knowledge of the Tampa Bay area and I look forward to providing you with a memorable experience.