A look at the very best moments from the Cambridges royal tour

With all the highlights from their five-day trip to Poland and Germany...

July 21, 2017Jul 21, 2017, 12:05 PM GMT+1

Prince William and Kate Middleton walk with their children, Prince George and Princess Charlotte, on an airport tarmac.

The Cambridge family have enjoyed a five-day royal tour to Poland and Germany, and here at HELLO! Online, we have put together their very best moments for you to enjoy.

The tour began on 17th July, with the Duke and Duchess of Cambridge venturing with their children to Warsaw, Gdansk, Berlin, Heidelberg and Hamburg at the request of the Foreign and Commonwealth Office.

From Kate's show-stopping outfits, to Princess Charlotte's royal handshakes, curtsy and wave, there has been plenty for us to gush over.

Prince George, meanwhile, who turns four on Saturday, is growing up quickly, and even appeared a little shy on the first day of the tour, with doting dad William coaxing him out of the airplane after the family landed in Warsaw. But at the end of the tour, the helicopter-mad tot had found his feet, and was clearly having the time of his life...

Prince William, Kate Middleton, and Prince George walk on a red carpet with military officers in the background.

The Cambridge family arrived in Warsaw on Monday morning to kick-start their royal tour. All eyes were on the Prince George and Princess Charlotte as they stepped off the private plane.

George, three, looked super-smart in a shirt and shorts as he held onto his dad's hand, while Charlotte, two, looked grown up in a pretty floral dress.

Meanwhile, Kate, looked as elegant as ever in a crisp white Alexander McQueen coat.

Group of people in formal attire stand by an airplane, one person in military uniform.

The Cambridge family touched down in Warsaw on the first day of their royal tour. The visit was at the request of the Foreign and Commonwealth Office, and was Prince William and Kate's first official joint visit to Poland and Germany.

Private jet G-GLEG on runway with no visible passengers or crew.

The British royals are believed to have travelled on the Embraer Legacy 600 jet throughout their trip, which offers a luxurious and spacious cabin for up to 13 passengers – so there would have been plenty of room for them to spread out with their children while flying.

Prince George, wearing a plaid shirt and shorts, shakes hands with a man exiting a plane.

Adorable Prince George needed a little encouragement from his dad, Prince William, before stepping onto the plane's steps after arriving in Warsaw on the first day of the royal tour.

Prince George shakes hands with a man in a blue suit. Several people stand nearby.

Having persuaded George to step down from the plane, Prince William was then captured bending down to help coax his son's nerves, as his little boy clung on tightly to his hand.

Two images: Kate Middleton holding a child, and Charles, Prince of Wales holding a child.

Charlotte's parents seem to have made a touching tribute to her uncle, Prince Harry, by dressing her in a pair of red hand-me-down shoes that Harry was pictured wearing back in 1986.

Three people in formal attire enter a wooden room with a glass partition. The man leads, followed by a woman in a dress and heels.

On Tuesday, the second day of their royal tour, Prince William and Kate visited the Stutthof concentration camp in northern Poland. During their time there, the royal couple had the chance to meet two survivors of the concentration camp, Manfred Goldberg and Zigi Shipper, both 87 from North London.

Kate Middleton, smiling and waving, surrounded by a crowd holding phones and cameras.

Throughout their trip, Kate and William recieved a warm welcome from enthusiastic crowds, who waited patiently in the hope of capturing a glimpse of the royal duo.

Prince William, Kate Middleton, and their children walk on a red carpet at an airport.

The Cambridge family chose to co-ordinate in various shades of blue when they stepped down in Berlin on day three of their royal tour.

Kate looked typically stylish in a new cobalt coat by Catherine Walker in cornflower blue, the same colour as the flower of Germany.

Charlotte, meanwhile, looked sweet in a floral summer dress in baby blue, while George looked smart in navy shorts, and a pale blue short-sleeved shirt and patent lace up shoes.

Prince William too, looked smart in a navy suit with a steel blue tie.

A young girl in a blue dress holds flowers, standing with an adult. Another adult holds her hand.

Princess Charlotte melted hearts when she stepped off the plane with her family - looking very pleased indeed with the bouqet of flowers that she recieved.

The adorable two-year-old then delighted waiting officials by copying her mum and giving a diplomatic handshake as the Cambridges were officially welcomed to Germany.

Prince George of Cambridge, in a light blue shirt and navy shorts, holds an adult's hand.

Prince George appeared to be worn out from the journey after landing in Berlin on the third day of the royal tour. Stepping out onto the plane with his dad, little George, who turns four on Saturday, was captured rubbing his eyes, clearly feeling tired from the excursion.

Crowd holding Union Jack flags with Prince William's image, taking photos.

The Duke and Duchess of Cambridge have recieved a warm welcome from royal fans in both Poland and Germany.

A woman in a red dress holds a wine glass at an outdoor event with several formally dressed individuals.

The Duchess of Cambridge was a vision in Alexander McQueen when she stepped out to a garden party at British Ambassadorial Residence in Berlin on the third day of the royal tour. By choosing to wear red, one of the three colours on the German flag, Kate paid another nod to her host country.

Kate Middleton, wearing a red off-shoulder dress, holds a glass of wine and smiles.

Kate's stylish off-the-shoulder Alexander McQueen gown featured short sleeves and cinched in her slim waist. The dress previously retailed for $3,175 (around £2,400), but was recently reduced in the sale at Farfetch for $1,270 (around £975). The 35-year-old styled the head-turning gown with strappy Prada sandals and her sapphire engagement ring.

Prince William, Duke of Cambridge, walks beside a woman in a yellow dress on a red carpet.

Kate turned heads in a sunflower yellow lace fit and flare dress from Jenny Packham - one of her favourite designers - as she joined her husband Prince William at the German Cancer Research Centre on the fourth day of the royal tour.

Prince William, Duke of Cambridge, rolls dough on a table while Kate Middleton, wearing a yellow apron, watches and laughs.

Following their visit to the German Cancer Research Centre, Kate and William enjoyed putting their culinary skills to the test while in the German city of Heidelberg. The royal couple were given a lesson in making pretzels – a popular delicacy in the country, while at a traditional German market in the central square.

A woman in a blue and white striped shirt waves while sitting in a rowing boat.

William and Kate enjoyed a spot of friendly competition when they took part in a rowing race in Heidelberg during day 4 of the royal tour. Kate looked chic in nautical stripes and oversized shades.

Prince William, Duke of Cambridge, hugs a woman in a blue and white striped shirt.

The loved up royal couple were captured in a tight embrace as they stood to pose for photographs after the rowing race. During the competition, Kate encouraged her team, telling them when they were close to the finish line: "Pull faster, it's not so far."

Prince William, Duke of Cambridge, in a light blue shirt and navy pants, walks beside a woman in a blue and white striped shirt holding a bouquet, both smiling.

After completing the race, which saw William's team finish in first place, Kate was overheard saying: "We didn't crash!" Kate was then handed a pretty bouqet of flowers. The royal couple both looked stylish in casual ensembles, with William in a laid-back shirt and chinos, and Kate sporting a nautical look in stripes and slim fit trousers.

Group of people at an event, including Alexandra Maria Lara in a green dress and Sam Riley in a white shirt.

On Thursday evening while at a reception at Berlin's historic Clärchens Ballhaus (ballroom), the Duke and Duchess of Cambridge met one of the stars of their favourite TV show Game of Thrones - and tried to persuade him to reveal what happens next.

William and Kate chatted to German actor Tom Wlaschiha, who plays Jaqen H'ghar in the cult show, at an event in Berlin on Thursday night.

"They said they really liked Game of Thrones and have watched every series," said Tom, 44. "They wanted spoilers but I said I couldn't tell them. I'm surprised they have time to watch such a long running series."

William and Kate revealed their love of Game of Thrones back in April, when they told Radio 1 DJ Scott Mills that they loved watching box sets of the show and getting a takeaway curry.

Prince William and Kate Middleton stand together, smiling and conversing at an event.

After a successful few days touring Poland and Germany, the Duke and Duchess of Cambridge looked picture perfect as they boarded a train from Berlin to Hamburg to kickstart the final day of their tour. Surrounded by royal watchers, Prince William and Kate appeared to be in great spirits ahead of their final few engagements.

Prince William, Duke of Cambridge, walks with his family, holding hands with Prince George of Cambridge and a young girl in a pink dress.

The royal couple later thrilled royal fans on Friday by bringing their children Prince George and Princess Charlotte along with them for their final engagement of the royal tour. Prince William and Kate were joined by their adorable children as they completed their tour of the Airbus training facilities in Hamburg, and the little ones truly stole the show.

Prince George of Cambridge stands in helicopter doorway, smiling, with hand on chin. Prince William, Duke of Cambridge, behind him, holding helmet.

Prince George, who turns four on Saturday, is known to be a big fan of planes and looked excited as he boarded a helicopter. The youngster was dressed in a long-sleeved checked shirt and navy blue shorts to tour the facilities with his parents ahead of their departure.

A woman in a purple dress holds a young girl's hand while a man in orange overalls holds the other. They stand on a tarmac.

Charlotte, two, later broke down in tears after she appeared to have taken a tumble on the tarmac at Hamburg Airport. The adorable tot needed some encouragement before she embarked the helicopter with her parents and older brother Prince George.

Kate Middleton holds a young girl in a pink dress, both smiling.

Princess Charlotte looked cute in a pretty pink floral dress, which was teamed with her red leather shoes. This was the final appearance the royal family made on their tour.