WATCH: Donald Trump welcomed at Buckingham Palace by Queen Elizabeth

Cape Town - US president Donald Trump was welcomed to Buckingham Palace by the royal family.

The Queen, Prince Charles, and the Duchess of Cornwall met the former reality star and the first lady on the first day of their state visit.

Donald and his wife Melania landed at the queen's London home while thousands gathered on The Mall outside.

The American president's aircraft, Marine One was set down on the lawn of Buckingham Palace and greeted by Prince Charles and a Royal Salute of cannons. 

During the US leader and his family's three-day visit, the queen will host a lavish banquet dinner for them that will also be attended by royal family members, the Duke and Duchess of Cambridge.

A private lunch with Donald and Melania will also be held, which Prince Harry will attend, CNN reports.