Toe curling: Ageing rock star Sting caught sucking wife Trudie's feet

Docked in Sydney harbour on a hired yacht costing £17,500 a day, Sting gently raised Trudie Styler's left leg to his mouth - and sucked her toes.

The Police singer, whose personal life has been surrounded by rumours of tantric sex and swingers' parties, also found time to massage her feet as she reclined on a sunlounger.

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Toe-curling: Sting shares an intimate moment with Trudie (and Sydney Harbour)

The 56-year-old and his 53-year-old wife are taking a break in the Australian sun with their four children aged 23 to 12.

Their on-board exploits came as it emerged that the couple plan to throw a party at their estate in Wiltshire to renew their marriage vows after The Police's world tour finishes.

It follows their own annus horribilis. In May they had to pay £25,000 damages after breaking employment law by sacking their female chef when she became pregnant.

More recently Sting was pictured leaving a German brothel.

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A friend said: "Most of this year has been pretty dreadful. Yet they have come to realise they really do have a lot to celebrate.

"Sting's comeback with The Police has been an enormous success. The band made £65million.

"They see their strength as a couple as being the reason behind their triumph over adversity. Trudie suggested they should do something to recognise that."

Notorious for their liberal approach to sex, the pair recently flung open the doors of the £12million Manhattan apartment for an "at home" newspaper feature - with eyebrow-raising results.

The centre piece of their sumptuous 18-room residence overlooking Central Park is an extraordinary scarlet bedroom embroidered in gold and dominated by two explicit Helmut Newton prints.

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Outspoken: Trudie and Sting have never been shy about their sex life

In one, an unidentified woman lays virtually naked, with her legs spread in the back of a vintage Mercedes as a man leans over from the front seat to unzip one of her spike-heeled boots.

The other image, above the bed head, shows the lower half of another female wearing just stockings, suspenders and high heels.

Miss Styler, who once told a U.S. DJ that the couple enjoyed swingers' parties, before apparently retracting the claim, said of the room: "I find it hot."

Artistic licence: Trudie Styler says the artwork in the couple's bedroom makes her feel 'hot'