On the first day of their two-day visit, they had several engagements in Belfast before swapping the city for the countryside.
On the second day, they started their day with a trip to Bangor, in County Down.
Tim Rooke
First stop was Belfast City Hall, where the royal couple met historians and staff.
Tim Rooke
The prince's great-grandfather, King George V, officially opened Northern Ireland's first parliament on 22 June 1921.
Reuters
The prince and the Duchess of Cornwall, sporting a colour co-ordinated face mask, then called in on youth workers at the Education Authority in Belfast.
Clodagh Kilcoyne
The prince is perhaps looking for a way out during his visit to the authority's headquarters in the city's Cathedral Quarter.
SAMIR HUSSEIN/POOL
Think of Belfast and the yellow cranes of the Harland and Wolff shipyard tend to come to mind.
SAMIR HUSSEIN/POOL
The royal visit is the first in what is Northern Ireland's centenary year.
Tim Rooke
While her husband was at the Titanic shipyard, the duchess went to the County Down village of Hillsborough and the workshop of silversmith Cara Murphy, who created the Grand National trophy.
Liam McBurney
Prince Charles caught up with pupils from Dromintee Primary School in Slieve Gullion Forest Park. He also met Willow on what happened to be the springer spaniel's birthday.
Liam McBurney
A bit of a crowd had gathered in the car park of the forest park to greet the prince.
Chris Jackson/REUTERS
Well-wishers gathered in Bangor, County Down, to see Prince Charles and the Duchess of Cornwall on Wednesday morning.
Chris Jackson/REUTERS
News soon spread about the royal couple's arrival in Bangor.
EPA
Prince Charles' second engagement of the day was in nearby Donaghadee, County Down.
Samir Hussein/PA Wire
Prince Charles read the messages of hope painted on stones at the harbour in Donaghadee.
Niall Carson/Press Association
The duchess visited Kilcooley Women's Centre to meet the staff and learn about their work.
Niall Carson/Press Association
The Duchess of Cornwall said she "won't forget" her visit to Kilcooley Women's Centre, where they host The Camilla Club.
Pacemaker
On Wednesday afternoon, Prince Charles got some football tips in Caledon, County Tyrone.
Pacemaker
People turned out to catch a glimpse of the prince in the village of Caledon, County Tyrone.