The Princess of Wales looked thrilled as she greeted the Queen.

Queen Camilla shared a sweet moment with Princess Catherine, as she and Prince William welcomed the German President and First Lady to the UK for a state visit. After greeting Frank-Walter Steinmeier and wife Elke Büdenbender at Heathrow Airport, the group travelled to Windsor Castle to meet the King and Queen.

As they stepped up onto the dais in the Quadrangle of the castle, the President and the First Lady walked ahead of the Prince and Princess to be reunited with their official hosts. As William and Catherine took their place to the side, the Princess dropped into a respectful curtsey, but the gesture was initially missed by Camilla as she was speaking to the First Lady.

Taking the moment in her stride, the Princess quickly caught her mother-in-law’s eye and gave a second deep curtsey, to which Camilla smiled and blew her a kiss.

The Princess dropped into a respectful curtsey before the Queen turned to look (Image: Sky News)

Princess Catherine, who looked elegant in a tailored coat by Sarah Burton for Alexander McQueen, grinned as she was reunited with the King and Queen for the latest state visit of His Majesty’s reign.

Much like for President Trump’s UK visit back in September, the couple had the honour of being the incoming visitors’ chaperones as they met them from their plane and travelled with them to Windsor to take part in the official welcome.

The arrival included a carriage procession through the town, a Guard of Honour, who gave a Royal Salute, and performances by the regimental band, who played the German and British National Anthems.

The pair grinned at one another before the Princess gave a second curtsey (Image: Sky News)

The Queen soon spotted her daughter-in-law and blew her a kiss (Image: Sky News)

The King then joined the President to inspect the Guard of Honour before heading inside the Castle for a private lunch.

Among the many other highlights today will see the group view a curated selection of items from the Royal Collection Trust which have links to Germany.

There will also be a glittering state banquet this evening in St. George’s Hall, where both the King and President Steinmeier will deliver speeches. Several other members of the Royal Family will be in attendance, with female royals in tiaras and male royals in smart evening attire.