Nicholson said he had no qualms about Minoprio joining the challenge.
"Within a crew of 11 you can hopefully afford to take one person based on their potential alone. In Adam you can see he has the potential to become a very good driver and top-of-the-line drivers are very hard to find," he said.
But moving from being the one calling the shots, as was the case when he was skipper of BlackMatch Racing, to being the newcomer has been difficult.
"It's been very tough, I've just been trying to learn as much as I can from those experienced guys.
"But it is tough when you go out to sea being the young guy on board and obviously not contributing as much," he said.
The last six months since Team New Zealand launched their slick new VOR70 has been a steep learning curve for Minoprio.
Not only has he had to get used to spending days, rather than hours, on the water but he has also had to adjust to the huge logistical challenges that come with preparing for such a big race.
"I've never been involved with a challenge like this so it's been really interesting to see how it is in this game, at this level," he said.
"I don't think I had a full appreciation of what it was going to be like and I still don't really know how tough it will be - I haven't done a leg yet."