Prior to his departure, he was given a detailed briefing by the Indian Coast Guard that last for nearly two hours.
Ministry sources said during the briefing, Parrikar raised a number of queries.
58-year-old Parrikar was the Goa Chief Minister till last week and had resigned from his post to take over as Defence Minister.
"This visit is part private and part official. The minister will be visiting the Naval facilities in Goa, the Goa Shipyard and carry forward his meeting with Coast Guard there," a source said.
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Meanwhile, the bureaucracy and the defence personnel in the Ministry see him as a tough task master who has had several intense briefing sessions since yesterday morning.
For two consecutive days, he has taken a briefing at 8:30 AM, an hour before official working time.