The 43-year-old On The Floor singer looked better than ever in a powder blue two-piece, showcasing her fit form.
The Gigli star chatted with pals on the luxury vessel before covering up her flawless frame with a towel. J.Lo's twins Max and Emme, 4, were also along for the boat ride. (Her boy toy Casper Smart was not photographed on the outing.)
"My heart was beating out of my chest, it was awful," the former American Idol judge said of filming the sex scenes, in which she was wearing only underwear. "You can hear a pin drop, everyone knows it’s coming."
Parker, co-starring Michael Chiklis (The Shield) and Wendell Pierce (The Wire), hits theaters Friday.