Son Mark said: "There was a bang and a thud, and a whale came about 12 ft out of the water and slid down the port side."
"It was shedding barnacles from its tummy."
The family said they were lucky to survive but they've kept barnacles from the whale and some of its skin as a souvenir.
Experts say the creature could have crashed into them by accident or it could even have been using the boat to scratch an itch.