Prince William, Princess Kate arrive with Prince George and Princess Charlotte in Poland

The family is embarking on a multi-day tour of Poland and Germany.

William and Kate and their children arrived in Warsaw dressed in red and white, the colors of Poland's national flag.

Kate, wearing a white Alexander McQueen suit and what appeared to be a ruby and diamond necklace and earrings, held Charlotte, who was dressed in a red floral dress and red shoes. William, wearing a red necktie, held the hand of Prince George, who wore a red plaid collared shirt and shorts.

Charlotte, mastering the art of the royal wave, also put her hand out to greet the dignitaries who welcomed the family upon their arrival, while George appeared a bit more shy as he appeared to exit the plane with some trepidation.

This is the second royal tour for 2-year-old Princess Charlotte, who joined her parents with her older brother in Canada last fall. It is the third tour for Prince George, who turns 4 this month, who accompanied his parents to Australia and New Zealand in 2014 as a toddler.

William and Kate, both 35, later received a formal welcome to Poland by President Duda and First Lady Agata Kornhauser-Duda at the presidential palace.

At one point, some in the large crowds who gathered to welcome William and Kate showed their excitement at their royal guests' arrival.

“We were telling [Kate] that she is beautiful and perfect, but she said it's not true, it's just the make-up," Magda Mordaka, 21, a student, told reporters.

William and Kate are scheduled to spend two days in Poland touring the country's historical sites, including the Stutthof Concentration Camp, where more than 65,000 people perished during World War II, and the shipyards in Gdansk, the birthplace of Poland's Solidarity movement.

Perhaps the penultimate event of the royal tour will be when William and Kate take their competitive streak to the water as the captain crew boats in Heidelberg.

William and Kate also celebrated the 70th birthday of Camilla, the Duchess of Cornwall, over the weekend. On Saturday, William and Harry participated in a charity polo match to raise funds for several of their charities.