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The family landed in Victoria, the capital of British Columbia
The Duke and Duchess of Cambridge have arrived in Canada with both of their children, five years after they visited the country as newly-weds.
The couple, along with Prince George, aged three, and 16-month-old Princess Charlotte, were greeted by Canadian PM Justin Trudeau and his wife, Sophie Gregoire after landing in Victoria.
William said his children were starting a “lifetime of friendship” with Canada.
The trip is Charlotte’s first official royal visit.
The couple will visit the west of Canada, having taken in the eastern side of the country during their last tour.
The duchess, who arrived wearing a dress by British designer Jenny Packham, held Charlotte in her arm, while Prince George held both his parents’ hands as they walked down the steps of the plane to meet the waiting dignitaries.
The couple will visit the west of Canada
Later, at a ceremonial welcome in Victoria, the Duke addressed a crowd of thousands gathered outside the Legislative Assembly of British Columbia.
He said: “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.
“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.”
Analysis
BBC royal correspondent Peter Hunt
This was a still rare chance to see the Cambridges as a family of four.
Prince William and his wife continue to shield their children from the spotlight.
They landed in a city named after William’s great-great-great-great-grandmother.
Despite the honour, Queen Victoria never made it to this part of her empire.
Her descendants will be here for eight days.
They represent the future, as things stand, of the throne she once occupied – in both the UK and some 4,000 miles away in Canada – where the British crown replaced a French one.
Their visit has been highly anticipated in Canada.
Despite a sizeable minority of the population yearning for a Canadian-born head of state, there is, as yet, no concrete political drive to change the status quo.
That status will be bolstered – at the very least emotionally – in the coming days by the images that will be captured of Prince George, Princess Charlotte and their parents.
The royal couple, minus their children, also attended a wreath-laying ceremony at the cenotaph in Victoria, near the British Columbia parliament on the first day of their tour.
On their eight-day visit they will have about 30 official engagements.
They will visit pregnant women struggling with addiction, and also meet First Nations communities, as well as Canada’s prime minister and his family.
Canada, a federation of former British colonies, is part of the Commonwealth. Queen Elizabeth is its head of state.
BBC