The Cambridges touched down at the 443 Maritime Helicopter Squadron airfield in Victoria, British Columbia on Saturday afternoon and were given an extremely warm welcome by locals.
It is 16-month-old Charlotte's first ever official tour abroad. Her older brother George has previously accompanied his parents on a trip to Australia and New Zealand in 2014.
Despite the long-haul flight, the family were on good form as they disembarked from the plane. William held onto George's hand while Kate, who looked radiant in blue, carried her daughter Charlotte in her arms.
The Duke told his son to "watch the step" as they slowly made their way down the stairs.
The royals were greeted by Canadian dignitaries including Prime Minister Justin Trudeau and Justin's wife Sophie, Governor General David Johnston and his wife Sharon, Lieutenant Governor of British Columbia Judith Guichon and the province's Premier Christy Clark, with son Hamish.
"Watch the step," William told his son George as they slowly walked down the steps
As William shook hands with Mr Trudeau, Kate tended to her little boy and bent down and asked "Are you okay?" before affectionately stroking his hair and cheeks.
"I've been looking forward to this visit," William told Premier Clark as they chatted on the tarmac.
Kate had nothing but compliments for Christy's son Hamish, who was dressed in a smart ivory suit. "That's a lovely suit and tie," said the Duchess.
This is Princess Charlotte's first official tour overseas
The Cambridges were then whisked off to Government House where they will be based throughout the tour.
William and Kate left George and Charlotte in the care of their Spanish nanny Maria Teresa Turrion Borrallo as they attended their first engagement, an official ceremonial welcome at British Columbia Parliament Buildings.
"Are you okay?" Kate asked her son, who appeared to be a little shy during the welcome
The couple paid respects at Victoria's Cenotaph and unveiled a new plaque paying tribute to the Canadian veterans who were involved in the Afghanistan conflict.
The official welcome to Canada then got underway, featuring an honour guard and speeches. Members of the public lined the waterfront - an estimated 22,000 people - who were hoping to catch a glimpse of their royal guests of honour.
Both Mr Trudeau and William took to the stage to give speeches. The Duke said that he and Kate were "delighted" to be back in Canada, the country they first toured as newlyweds in 2011.
"We are so pleased that George and Charlotte can be with us... beginning their own lifetime of friendship with this wonderful country," he said. "Catherine and I have asked to meet as many people from as many walks of life as we can while we are here."
The Duke gave a speech, saying that he and Kate were "delighted to be back in Canada"
Following the ceremony William and Kate carried out a walkabout where they were showered with gifts and beautiful bouquets of flowers. The couple then returned to Government House where they had meetings with senior Canadian leaders, including Mr and Mrs Trudeau, before retiring for the night.
Stay tuned to HELLO! Online for the best and most comprehensive coverage as our royal reporter Emily Nash joins the Cambridge family on this historic tour.