The most decorated Olympian of all time, Michael Phelps, fulfilled his pledge to the Baltimore Ravens by instructing his home team both in and out of the water. Before teaching some Ravens players how to swim, Phelps, who won a record 23 gold medals at the Olympics, gave a speech to the team at the conclusion of Tuesday's training camp session. He paid Phelps a visit two weeks after cornerback Marlon Humphrey asked for his assistance in a social media video, stating that one out of three Ravens players is unable to swim. Phelps taught nose tackle Travis Jones how to kick better while swimming at Loyola University's Mangione Aquatic Center, where his records are still on display. Phelps also gave a ton of advice, including how to maintain tight shoulders when hitting strokes. "I didn't know what I was getting into. I had no idea what their comfort level was. When I see the guys in there and some of the guys who are literally working on floating and breathing, and they're focused on paying attention to those details, it shows their vulnerability, especially when they're uncomfortable," Phelps said. The 40-year-old Phelps, who has set multiple Olympic records in the 200-meter freestyle, 200-meter butterfly, and 400-meter individual medley, was even raced by some Ravens. The only way athletes like Kyle Hamilton, an All-Pro safety, can claim to have outperformed Phelps from one side of the pool to the other is if they were given a six-second advantage. "I think that's the greatest athlete of all time. To be able to share the water with him and actually swim laps against him and get coaching points after swimming against him, it was very surreal. I don't know that I've ever felt that way, to be honest." Ravens left tackle Ronnie Stanley said. Phelps' assistance extended beyond the pool. Hall of Fame linebacker Ray Lewis and Phelps' son Beckett observed training camp practice earlier in the day. Coach John Harbaugh asked Phelps how to become the best in the last huddle of the day after practice was over. "When I stood up on the block at World Championships, the Olympic Games, any major international competition, I knew I was the most prepared human on that pool deck because I know that nobody would have been doing what I was doing day-in and day-out. It's what you do behind closed doors that no one sees that gives you the opportunity to stand out on this field every single week during the season and be great. Coach has got you all ready, right? But every single day you have to be on top of those small things. You miss a step, you're giving your opponent something else," Phelps told the players. Phelps and the Ravens have a history together. Phelps has worn the Ravens' jersey to Ravens games over the years. He even rejoiced with the players in the locker room following Baltimore's victory in Super Bowl XLVII. The Ravens donated $100,000 to Phelps' charity, which advocates for water safety, as a token of appreciation for his assistance on Tuesday. "It was a great day. I truly hope they learned something, hopefully got some confidence, and hopefully can transition into something else," Phelps said.