Speaking in Warsaw at the start of the tour, Jonathan Knott told Sky News: "One of the features as you know of the royal family is that they are apolitical, they are above politics, so this is really about the connection between peoples, between organisations".
E! News wrote that once the initial greetings were over, Kate Middleton and Prince William, with the two children, were escorted to Belweder Palace, their base for the time they spend in Poland.
William and Kate's trip is being taken at the request of their Foreign and Commonwealth Office as part of a diplomacy tour.
The Duke and Duchess of Cambridge will also visit Berlin's Holocaust museum and memorial.
Meanwhile, Princess Charlotte, who was held by Kate, looked far more relaxed, and reportedly "smiled in her mother's arms and waved to onlookers".
They flew in a private chartered plane with William and Kate and landed at a rainy Warsaw Chopin Airport.
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The Rajya Sabha also paid tributes to its sitting members Anil Madhav Dave and P Govardhan Reddy who passed away recently. Meanwhile, the polling for the President election is underway at the Parliament and the various state Assemblies.
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No arrests have been made in the slayings and authorities have not disclosed how the girls were killed. The man was also captured in a photograph wearing blue jeans with a blue coat and a hoodie.
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Records did indicate that the Honda in question hadn't received service for the inflator recall, despite numerous notifications. The company said it did not know what repairs were being attempted, but said the ignition switch was in the "on" position.
Her husband, Prince William, wore a navy blue suit with a blue shirt and red tie.
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They will head to Heidelberg and Berlin on Wednesday, and will visit Hamburg on Friday. William was wearing a dark suit and George was in short pants and a shirt.
The Duchess, dressed in Alexander McQueen (fast becoming her very favourite designer), carried two-year-old Charlotte and the little one looked as cute as a button, wearing a printed red dress with matching shoes.
They will also tour the historic city of Gdansk, where they will see a replica of Shakespeare's theater and meet the former president, Lech Walesa, who was instrumental in bringing about the end of communism in Poland.