The invention relates to a vessel including a motion compensation platform. The platform comprises at least one carrier for bearing, moving and/or transferring a load, and a gangway provided with a first end pivotably connected to the carrier and a second end for contacting a target area. Further, the platform comprises a multiple number of first actuators for moving the carrier relative to the vessel, and at least a second actuator for moving the gangway relative to the carrier. The platform also comprises a control system arranged for driving the multiple number of first actuators, and motion sensors for measuring motions relative to at least one element in a target area, which measurements are used as input for the control system. The control system is also arranged for driving the at least one second actuator.