The Mexican Navy tall ship Cuauhtémoc sails beneath San Francisco's Golden Gate Bridge before docking along the Embarcadero.

The visit marks its return to the city after 17 years. It is part of an international training voyage along the US West Coast, following a stop in Honolulu. The crew will spend four days there before continuing to San Diego.

The Cuauhtémoc was involved in a fatal collision with New York's Brooklyn Bridge last year, which killed two sailors and injured 19 others.

Repaired after the accident, it is now back at sea. Visitors can board the vessel for tours while it is docked.