The Emperor and Empress of Japan received a ceremonial welcome as their state visit began on Tuesday.

The King and Queen greeted their guests on Horse Guards Parade, where some of the nation’s most prestigious regiments were on display.

The Prince of Wales had escorted the emperor and empress from their overnight residence.

The King, holding his hat, smiles as he chats to Camilla
The King smiles as he chats to Camilla ahead of the ceremonial welcome at Horse Guards Parade (Chris Jackson/PA)
The Prince of Wales greets Emperor Naruhito and his wife Empress Masako of Japan
The Prince of Wales greets Emperor Naruhito and his wife Empress Masako of Japan (Jordan Pettitt/PA)
Soldiers lined up in red uniforms and bearskin hats
Members of the 1st Battalion Welsh Guards ahead of the ceremonial welcome of Emperor Naruhito and Empress Masako of Japan (Chris Jackson/PA)

The three-day state visit comes in the midst of a General Election.

The emperor inspected the guard of honour, accompanied by the King, who walked a few paces behind his guest.

Home Secretary James Cleverly, Prime Minister Rishi Sunak and Foreign Secretary Lord David Cameron chat near soldiers at Horse Guards Parade
Home Secretary James Cleverly, Prime Minister Rishi Sunak and Foreign Secretary Lord David Cameron attended the ceremonial welcome at Horse Guards Parade (Jeff Moore/PA)
Prime Minister Rishi Sunak laughs as he chats to Queen Camilla
The Queen shares a joke with Prime Minister Rishi Sunak (Chris Jackson/PA)
The King follows behind as Emperor Naruhito inspects soldiers in red uniforms and bearskin hats
The King follows behind as Emperor Naruhito inspects the guard (Jeff Moore/PA)
Charles chats to Emperor Naruhito after inspecting the Guard of Honour from members of the Welsh Guards
Charles chats to Emperor Naruhito after inspecting the Guard of Honour from members of the Welsh Guards (Kin Cheung/PA)

At the end of the welcome ceremony was the traditional carriage procession to Buckingham Palace for a private lunch.

The two heads of state sat together in the lead coach, followed by Camilla and the empress, who has an allergy to horse hair and as a precaution wore a face mask.

Charles and Emperor Naruhito chat as they travel in a carriage to Buckingham Palace
Charles and Emperor Naruhito chat as they travel in a carriage to Buckingham Palace (Jonathan Brady/PA)
The Queen travelling in a carriage with Empress Masako of Japan, who was wearing a face mask
The Queen travelled with Empress Masako of Japan, who has an allergy to horse hair and as a precaution wore a face mask (Chris Jackson/PA)
Members of the Band of the Grenadier Guards march outside Buckingham Palace
Members of the Band of the Grenadier Guards march outside Buckingham Palace (Jonathan Brady/PA)
Camilla, wearing a white dress and hat, waves during the procession to the palace
Camilla waves during the procession to the palace (Isabel Infantes/PA)
Foot Guards of the Household Division can be seen through a window as they line up at Buckingham Palace
Foot Guards of the Household Division line up at Buckingham Palace (Suzanne Plunkett/PA)
The King and Emperor Naruhito are seen smiling as they arrive at Buckingham Palace
The King and Emperor Naruhito are seen smiling as they arrive at Buckingham Palace (Suzanne Plunkett/PA)