Wouldn't mind betting Julius Cruesier was the first, especially on his visits to see Ms Nosey on the far side of the Mare Nostrum (Our Sea, in Latin, the Roman language), as it was then called...
Potentially, uber-rich Romans visiting their holiday homes in Sicily
and North Africa
, by slave galley
Or traders taking their families along on trading missions for a 'cruise' perhaps.
Although, if we're going back that far, I'm opting for Asterix and Obelix - or their mates, the pirates.... lol