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

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... 

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. 

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. 

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.

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.

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.

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.

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.

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. 

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.

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 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.

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

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'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.

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. 

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.

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.

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."

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. 

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.

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.

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, 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.

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.

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.