Westgaard and Tyler, 13, were both excited to see the orca's and were even treated to a close-up performance.
One of them came up to the back of the boat and squealed at them on the boat before rolling over on its back with its belly to the sky.
"It was epic ... it was the experience of a lifetime mate, it was so overwhelming," Westgaard said.
Meanwhile, a pod of five orca gave holidaymakers to a special treat in the Hauraki Gulf during a tour earlier this week.
The pod of two calves, two females and a male spent about 20 minutes around the tour group with Auckland Whale and Dolphin Safari.
Marine research and conservation officer Catherine Lea said while she was not on board at the time she heard it was a "very special" encounter for all of those on board.
"They are an endangered species and we don't see them all of the time, so even the crew were really stoked to get to see them," she said.
"Everybody loves orca and seeing them is on many bucket lists, so I can guarantee pretty much everybody would have loved it."