The history of sailing yachts begins in Europe in the beginning of the 1600s with the building of a pleasure vessel for the son of King James I of England. While other monarchs used naval ships for transportation and conquest, James I was the first English monarch to commission the construction of a yacht—for his son Henry, Prince of Wales in the early 1600s. 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.