Veterans from the charity D-Day Revisited have also left Portsmouth on a ferry that was escorted into the English Channel by Royal Navy vessels, the Type 23 frigate HMS St Albans and four P2000 patrol vessels – HMS Puncher, Biter, Pursuer and Explorer.
Sir Rod Stewart performed for the Second World War veterans on the ship before it left - serenading them with his 1975 hit 'Sailing'.
The veterans also had the opportunity to visit beaches in Dunkirk on Monday and will watch a display by the Royal Navy in Poole Harbour on Tuesday.
Defence Secretary Penny Mordaunt said she hopes "D-Day75 leaves a lasting legacy and provides an opportunity for people young and old to reflect on the achievements and sacrifice of our Second World War generation".
Rear Admiral Jim Macleod, who was one of the chief organisers for D-Day 75, added:
"D-Day75 will be a commemoration like no other."
Watch: More than 4,000 personnel will be involved in the commemorations in both the UK and France.
Jim Docherty, 94, had not spoken of his role as an able seaman with the Royal Navy on D-Day until he was invited on the week-long voyage about five months ago.