Sir Peter Blake's yacht is returning home just days after Team New Zealand regained the America's Cup.

His boat Seamaster is docking in Auckland for the first time since 2003, and 16 years after Sir Peter was killed on the boat by Amazonian pirates in 2001.

The boat is now called Tara, but is still used to continue Sir Peter's legacy with studies of ecological change and coral reefs.

Sir Peter Blake Trust chief executive Sally Campbell says the return of the boat is a very special but is also tinged with sadness.

"[It's] a reminder for some people that they've lost a father or a brother or a mate. The hope is to be really respectful about that."

Campbell says they've been preparing for this day for years but the timing couldn't be better.

"We have thought several years ago that Tara might come back," she said. "We've been planning this with them for nine months now."

"It's just happened to be the same week as the America's Cup win."

Sir Peter skippered Team New Zealand's first America's Cup victory in 1995 and only successful defence in 2000.