When did I last get butt-naked with a painting in the line of duty, I ask myself. There's just the two of us here: me, and a work by Luc Tuymans called, propitiously enough, Allo!

I'm off to bed. We're in my cabin on a boat called the Roi des Belges ("King of the Belgians"). Tuymans is Belgian too. To be honest, this is the only cabin. It's after midnight and the crew–let's call them "room service"–aren't about. The tide's up. Where's my cocoa?

I'm sailing through the night on the Roi de Belges, the riverboat shuddering and creaking on the roof of the Queen Elizabeth Hall on London's South Bank. Rain slaps at the windows and the wind howls. The Roi des Belges is named after the boat Joseph Conrad captained on his journey up the Congo river in 1890–a trip that became the inspiration for his most famous work, Heart of Darkness, which itself inspired Francis Ford Coppola's 1979 Vietnam war movie Apocalypse Now. For one colonialist misadventure, read another.

The tub is also A Room for London, a collaboration between Artangel and Living Architecture, working with the artist Fiona Banner. I had been invited on board–following David Byrne, Jeremy Deller, actor Brian Cox (who read Orson Welles's original screenplay of Conrad's story to a live audience here a few weeks ago) and others. Creative types are invited to stay on the boat, to write and to perform, and the public can rent the joint for the night.

This is more nautical-themed hotel suite than boat. But it is shipshape, with high-thread-count bed linen. It isn't the first time I've set sail across the concrete Sargasso of the South Bank either; last time I floundered in a rowing boat on the flooded sculpture court of the Hayward Gallery, courtesy of the Austrian collective Gelitin in the Hayward's 2008 Psycho Buildings show.

Tuymans' painting, like me, is a stowaway. Allo! was painted especially for the Roi des Belges, and the artist has gone on to paint a whole series of related works since this one-off commission. Tuymans's art has frequently returned to the troubled history of Europe. He has painted the gas chamber, Hitler and his sidekicks, the rotten history of Belgium's colonial past and its relationship with Africa–in particular Belgium's role in the assassination of Patrice Lumumba, the first post-independence prime minister of the Democratic Republic of the Congo, in 1961. Tuymans filled the Belgian pavilion at the Venice Biennale in 2001 with a cycle of paintings related to this. Belgium officially apologised for its role in Lumumba's assassination a year later.

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The Guardian, review by Adrian Searle

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