Britain's King Charles III and Queen Camilla welcomed U.S. President Donald Trump at Windsor Castle Wednesday for his historic second state visit to the U.K.

Trump and first lady Melania travelled to Windsor via helicopter from London and were greeted on the castle lawn by the Prince and Princess of Wales, before meeting the King and Queen.

Next, the Trumps took part in a carriage procession and ceremonial welcome.

Later, there will be a military parade followed by a state banquet Wednesday evening. 

The Trumps landed in the capital from Washington D.C. late Tuesday and spent the night at the U.S. Ambassador's residence Winfield House before setting off for Windsor.

Trump's first U.K. state visit took place in 2019 and no U.S. president, or any other world leader, has ever had the honor of a second.

Most state visits are staged in London, against the grand backdrop of Buckingham Palace, but this time the setting is Windsor, a historic town of just over 30,000 people about 25 miles (40 kilometers) west of central London.