I can talk to you about Roman pleasure yachts and barges, both in the lovely internal waterways of Italy (like Lake Como) and also in the many sheltered harbors up and down the coasts. But this isn't even close to being far enough back in time. I suspect that as long as boats have existed, so too have pleasure excursions. My guess is that the answer to your question lies in sources related to early Mesopotamia, on the Tigris and Euphrates, or perhaps even in accounts of pleasure cruises down the Nile undertaken by the Pharaohs in very ancient Egypt, by the beginning of the third millennium BCE if not even earlier. Neither of those are areas for which I have a good enough grasp to provide a detailed answer, however, and I do not think there are any early Bronze Age specialists in the sub these days.