The family of four looked fresh and rested, despite having travelled overnight from London on a ten-hour flight.
Their private plane, the Canadian Air Force jet, arrived just before 4pm local time at Victoria airport in British Columbia, Canada.
Duchess Catherine opted for a royal blue dress by her favourite designer Jenny Packham.
She teamed the fitted number with a chic hat by Lock & Co and giving a nod to the host nation, she finished off her look by sporting the Queen’s stunning maple leaf brooch.
Prince George – who looked adorable in a navy jumper, smart shorts, lace-up shoes and his trademark knee-high socks – held onto to both of his parents’ hands as they disembarked from the plane while one-year-old Charlotte nestled into her mother’s arms.
Sticking with the blue theme, 16-month-old Charlotte sported a sweet embroidered sundress, blue shoes and a blue bow clipped into her light brunette locks.
Prince William kept things dapper in a navy suit and a striped Guards tie.
Addressing Canada, the proud Duke remarked, “We are so pleased that George and Charlotte can be with us… beginning their own lifetime of friendship with this wonderful country.”
The royals were given a warm reception by Canadian Prime Minister, Justin Trudeau.
Other dignitaries on the tarmac included Justin’s wife Sophie, the Governor General David Johnston, Lieutenant Governor of British Columbia Judith Guichon and the Premier Christy Clark.
“Sophie and I were honoured to welcome William & Kate, the Duke & Duchess of Cambridge, today in Victoria! #RoyalTourCanada,” the Prime Minister Justin tweeted shortly after their arrival.
Onlookers noted that young George was happily waving at all the well-wishers and was particularly fascinated by a Sea King helicopter, which was landing close by.
The family’s first stop was a meet and greet at the Legislative Building in Victoria, where thousands of fans had been gathering for hours in the hope of catching a glimpse of William and Catherine.
It’s believed the children were looked after by their nanny during this time.
This marks Charlotte’s first ever royal tour while big brother George accompanied his parents on their 2014 trip to Australia and New Zealand.
As they disembarked from the plane, which has been loaned to the family for the duration of their eight day tour, Prince William told George to “watch the step.”
The three-year-old Prince became shy at times but doting mum Catherine bent down and asked her son, “Are you OK?” Before lovingly ruffling his hair.
A thrilled Prince William expressed how excited he was to finally be in the country, telling Premier Clark: “I’ve been looking forward [to this trip.]”
The family were then whisked away in a motorcade.
Government House in the Canadian capital will be George and Charlotte’s base while their parents attend official engagements throughout the week.
The family’s trusted and beloved nanny, Maria Teresa Turrion Borrallo, will be looking after the kids.
During their first tour as a family of four, the Cambridges will be supported by a team of 12 including their nanny, a PA, three private secretaries, one tour secretary, four press officers and a team of elite, Scotland Yard security guards.
Kate’s trusted hairdresser, Amanda Cook-Tucker, will also be working the tour to ensure the 34-year-old’s famous tresses are picture-perfect.
Natasha Archer, Kate’s PA-turned-stylist, will be selecting her many tour outfits which will no doubt become iconic in their own right.
Shortly after their touchdown, William and Catherine paid their respects at the Cenotaph at the BC Parliament Buildings. The royal couple also opened a new plaque which commemorates Canadian soldiers involved in the war in Afghanistan.
They were welcomed with a 21 gun salute.
Around 22,000 people gathered to listen to the official welcome, which was kicked off with a speech from Justin Trudeau.
The Prime Minister took the opportunity to thank William and Kate for introducing their two children “our part of the world.”
“Let me caution you from my own experience. If they’re anything like our kids, getting them back on the plane after a visit to our beautiful West Coast will really be a challenge,” the 44-year-old joked.
In response, Prince William thanked the members of public and the Prime Minister for the incredible hospitality.
“Catherine and I are delighted to be back in Canada. When we were here last time, we had been married only three months. The warm welcome that you gave us at that important moment in our lives meant a lot to us – and we have never forgotten it,” he explained.
“That is why we are so pleased that George and Charlotte can be with us in Canada this time round, beginning their own lifetime of friendship with this wonderful country.”
“Catherine and I have asked to meet as many people from as many walks of life as we can while we are here. We are very much looking forward to learning about how Canadians are tackling some of the biggest challenges of the day, including the environment, supporting young families and the mental health of young people.”
“We feel very fortunate to have time to get to really know parts of this country that we did not get to visit in 2011 but of which I have very happy memories as a shy teenager,” he concluded.
Meanwhile the Premier Christy Clark explained that the city Victoria is named after George and Charlotte’s “great-great-great-great-great grandmother.”
“That is five greats, and Queen Victoria certainly deserved five greats. She was a strong, determined and resilient woman.”
Day one of the tour concluded with an official welcome reception at Government House, which was hosted by the Governor General, David Johnson, and the Prime Minister, Justin Trudeau.