They relished the warm welcome, both waving and smiling enthusiastically at the crowd gathered outside the Senedd - the Welsh Parliament.
Excited schoolchildren were the first to greet the royal couple, with one child heard shouting: "It's the King and the Queen!" Charles and Camilla took the time to greet children who were proudly waving Welsh flags.
Camilla wore a brooch in the shape of a leek - a national symbol of Wales - on her pink Anna Valentine coat dress, and topped her outfit with a straw hat from Lock and Co.
Earlier, the Royal Welsh regiment of the Army formed a guard of honour alongside their mascot, Billy the goat, inset below, to mark the visit.
Charles and Camilla were then introduced to dignitaries, including the Llywydd (presiding officer) of the Senedd, Elin Jones, and First Minister of Wales Vaughan Gething.
Inside the Senedd, the King addressed the Welsh Parliamentary chamber the Siambr - in their national tongue, before giving a speech in which he seamlessly transitioned between English and Welsh.
Charles, who was the longest-serving Prince of Wales, said: "It is a milestone on a journey which it has been my privilege, all my life, to share with you during times which have seen great change, profound sorrow, and tremendous achievement. Through it all, my respect and affection for the people of this ancient land have deepened with every passing year."
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