The prince, who is visiting the Pink City for the third time in 23 years, drove straight from the Sanganer airport to the Lily Pool Palace to meet Rajmata (Queen Mother) Gayatri Devi who, along with her late husband Maharaja Sawai Man Singh, had played host to Charles's mother Queen Elizabeth in the 1950s.
After his meeting with the Rajmata, Charles went to the 280-year-old City Palace to a warm welcome from former maharaja Bhawani Singh, his wife Padmini, his daughter Diya Kumari and son-in-law Narendra Singh.
They received the prince at the 'Khasa Pol' (special gate) with an 'aarti' and 'tilak'.
At the main entrance of the palace, the visitor received salute from decorated elephants and royal guards.
Charles will stay overnight at the 'Rang Mahal' in the City Palace.
The prince had first visited Jaipur in 1980 to play a polo match. He returned in 1992 with his wife the late Princess Diana. Then, too, he had played polo.
On Saturday morning the prince will meet children of a prep school being run by Diya Kumari.
He will also visit the part of the palace that houses a huge museum run by the Sawai Man Singh II Trust.
Charles is scheduled to visit Amber, the old capital of Jaipur state, to see a renovated 'haveli'.
He will visit Ajmer, Alwar, Nagaur and Jodhpur before leaving for Mumbai on November 3.
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