Add apples, cinnamon sticks, oranges and zest, brown sugar, cloves and nutmeg to Instant Pot. Pour water over top.
Place cover on Instant Pot and set to sealing. Set to high pressure for 15 minutes. Once done, allow to naturally release 10 minutes before venting and removing lid.
Remove large items with slotted spoon. Strain smaller items using a fine mesh strainer before serving.