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King Willem-Alexander and Queen Máxima of the Netherlands are perfectly in step at playful engagement

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Queen Máxima of the Netherlands and her husband King Willem-Alexander were perfectly in step during a day of engagements in Bavaria, Germany. The couple, who have been married for 14 years, showed off their playful sides and amazing sense of humour as they joked around in one of the world's oldest art galleries.

Máxima, who was pretty in pink, looped her arm through her husband's as they amusingly stepped through a frame. The king and queen were quite the picture, hopping through the frame and laughing as onlookers applauded them.

The royals were paying a visit to the Alte Pinakothek art museum in Munich. Máxima and Willem-Alexander officially re-opened the Dutch wing of the museum, which houses one of the most famous collections of Old Master paintings.

queen maxima1 © Photo: Rex

King Willem-Alexander and Queen Máxima were perfectly in step

Máxima, 44, was her sunny, radiant self as she toured the new wing and admired the artwork on the walls. The mum-of-three, who had left her daughters at home, turned heads in a fuchsia dress and off-centre hat.

Earlier on Wednesday the glamorous queen and her husband Willem-Alexander visited BMW World. The couple were shown a range of cars including a Mini Cooper range and were also invited to step into a metallic sports car. Máxima looked particularly excited to find herself behind the wheel and pretended to steer.

queen maxima3 © Photo: Rex

Máxima looked particularly excited to sit behind the wheel

The royals have received a warm welcome from their neighbouring country. Máxima was presented with a massive gingerbread biscuit that had the king and queen's names sweetly iced on it.

On Thursday the couple continued their two-day visit with a stop at the Medical Valley Centre in Erlangen city.

queen maxima4 © Photo: Rex

The queen was given a gigantic biscuit from a well-wisher

Máxima once again showed off her sartorial prowess, choosing to recycle one of her favourite grey coats that she has worn at previous engagements. The chic number made by Danish designer Claes Iversen featured faux jewels in the shapes of stars and crosses.

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