Upon their arrival, the royal couple were welcomed by the President, His Excellency Dr William Ruto and the First Lady, Her Excellency Mrs Rachel Ruto.

On Tuesday morning, the President hosted a ceremonial welcome for King Charles and Queen Camilla at State House, complete with a red carpet and a 21-gun salute from the Kenya navy.

The royals will each attend bilateral meetings – the King with the President and the Queen with the First Lady. They will also met with the Kenyan Defence Forces and Commanders of the Army, Air Force and Navy.

The couple were then reunited and introduced to the Deputy President of the Republic of Kenya and Kenyan Government Ministers. King Charles later planted an African fern tree seedling at the lawn.

For all the latest updates from the tour, follow the live blog below.