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Instructor Cathy Bennett, who is seen holding Boomer, was the same instructor who taught Phelps when he was young, the "Today Show" reported.
The complex is the same one where Phelps got his start.
Boomer was comforted so by Phelps holding him that he appears to nearly fall asleep in the water, but also kept a death grip on Daddy's chin and beard at times.
Phelps said that Boomer wasn't happy about getting his face wet, but handled it better than in previous outings.
It was Bennett's third time swimming with Boomer, who will turn 7-months-old in December.
Watch the video below:
Posted by Michael Phelps on Monday, November 28, 2016
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