"Just look straight ahead – and jump.” Taking a deep breath I followed Jacob’s instructions, leaping off the rocks and plunging into the twinkling sea below. Jacob whooped, the kids clapped, I spluttered.

As the chilly water seeped inside my wetsuit, I clambered back towards the rocks and did the same again – and again and again, each time leaping from a little higher up. When you’re in a place so centred around the sea as Falmouth in Cornwall you’ve really got to take a dip. Coasteering seemed like the ideal way to do it.

To whip our confidence up our instructor Jacob, from water sports experts Elemental UK based on Swanpool Beach , started us off with mini leaps around 3ft high. Husband Tim and I ducked out once our fear levels outweighed our newfound bravado but the thrill-seeking kids – my son Freddie and his friend Krithik, both 15 – progressed to 20ft plunges. In between we swam to different cliffs and into a long, narrow cave.

The boys even found themselves a hot tub – a large shallow rockpool heated by the sun. It was super fun for all of us. Situated on the pretty south coast, Falmouth is a busy yet friendly town with a string of superb beaches and a laid-back vibe.

It was recently voted the friendliest UK seaside town and one of the country's best places to live. Falmouth was described as being Cornwall’s “cooler town” by TimeOut, which ranked it ninth on its 15th best places to visit in the UK. Our base was the superb St Michaels Resort.

Fro.