Wollongong Bishop Peter Ingham, the diocese's World Youth Day team chief executive officer Daniel Hopper and head of religious education Mark Raue were on the Pope's official cruiser.

Another 40 residents formed part of the flotilla of 13 escorting vessels.

Speaking to the Mercury while enroute, Bishop Ingham described the journey as "absolutely amazing".

"We saw the Pope embark. He was on the front of the boat as it left Rose Bay, waving to the people, and there were people on boats surrounding us," he said.

"As we came along there were people everywhere along Farm Cove, Mrs Macquarie's Chair and then around the Opera House, Circular Quay ... right around on all sides, incredible crowds of people.

"We're now about to land at Barangaroo and it's full of young people here.

"It's fascinating being with the bishops and cardinals from all over the world.

"I've been talking to different people like the Cardinal of Chicago, another from Bogota, getting a sense of the church universal that's here.

"There's a feeling of great excitement on the boat. It's wonderful just to be here on such a beautiful day."

Bishop Ingham and Mr Hopper were scheduled to meet the pontiff, but missed out after the proceedings ran behind schedule.

"We got within a couple of metres when he was getting on the boat, but because they were running a bit late the Pope went straight up to his seat," Mr Hopper said.

He nevertheless enjoyed the stunning harbour cruise.

"I tell you what, there were a lot of people. When the boat started coming around Circular Quay it was huge on the shore," he exclaimed.

After docking, Mr Hopper said those travelling on the Pope's boat were invited to remain and watch the proceedings on large television screens while being served finger food and drinks.

"It was good fun," he said.

Nicole Nunan, 20, a member of the Albion Park St Paul's parish who travels to Sydney daily with about 30 other young parishioners, said her experience as part of the 100,000-strong crowd at Barangaroo was "fantastic".

"We actually got quite near to the Pope, about two people back," she said.

"There was so much energy as he was driving past. Everyone went absolutely crazy," Ms Nunan added.