The two sets of monarchs, who have a close relationship, greeted each other warmly, with Felipe and Willem-Alexander giving each other a large hug, while Letizia and Maxima smiled as they kissed each others cheeks.
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The Spanish royals were reportedly 15 minutes late arriving at Noordeinde Palace in The Hague, and Willem-Alexander laughed as Felipe exited his car.
"It's a pleasure to see you again", said the Dutch king.
Wearing a red double-crepe shirt dress with embroidery, Queen Letizia looked stylish as she greeted the Dutch queen, who looked elegant in an aubergine-coloured peplum dress with matching wide-brimmed hat and simple jewellery.
The recently-crowned Spanish monarch is in the Netherlands for a special one-day visit. The couple will also meet with Prime Minister Mark Rutte in the Prime Minister's Office at The Hague.
The trip came just over a year after the Dutch royals made their first visit to the Spain since they received their new titles.
They were flown in by none other than Willem-Alexander himself (the royal holds a military pilot's license), and Felipe and Letizia greeted them upon their arrival at the air base, with the royals warmly embracing one another.