Will the captain and crew stay on board during the charter?

Yes. On a crewed yacht charter, the captain and crew stay on board during the charter.

On crewed yachts, the crew have their own separate quarters, so guests still have privacy. In general, the bigger the yacht, the more separation there is between guest areas and crew areas, and some layouts are especially good at making that separation feel natural.

If privacy matters a lot to your group, tell us early. Some yachts are much better than others if you want guest cabins far from crew quarters, more separation between service and guest spaces, or simply a quieter, more private feel overall.