And what a week they picked for it, as temperatures soared during the UK heatwave. Prince Charles and Camilla visited St Mary's Island and Bryher Island in the Isles of Scilly during their tour, which are renowned for their beautiful beaches and clear, blue waters.
HELLO! takes a look at the dreamiest photos from Charles and Camilla's trip to inspire your next staycation.
The royal couple kicked off their trip on Monday with a visit to Exeter Cathedral. After celebrating the city's designation as a UNESCO City of Literature and launch of The Royal College of Nursing's Prince of Wales Nursing Cadet Scheme in England, Charles and Camilla looked thrilled to meet crowds of youngsters outside the Cathedral.
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WATCH: Charles and Camilla meet schoolchildren in St Mary's, Isles of Scilly
That is one delicious-looking cake! Charles and Camilla enjoyed a slice of the fruit and cream covered sweet treat to mark the "ten plus one" anniversary of the Prince's Countryside Fund at the Duchy of Cornwall Nursery at Lostwithiel, in Cornwall.
The Prince and Duchess were all smiles as they went for a stroll along Porthcressa Beach on the Isles of Scilly on day two of their trip. Charles kept his cool in a beige suit, while Camilla donned a printed green dress.
They visited Five Islands Academy School for an Eco Conference, and Porthcressa Quay to meet key workers involved in community support during pandemic and local business owners who have been affected by lockdown.
The couple were greeted by tourists on Porthcressa beach in Hugh Town on the main island of St Mary’s, and the Duchess told holidaymakers: "I know it is difficult to find somewhere to stay. It is very busy here."
Camilla, who launched her online book club, the Duchess of Cornwall's Reading Room, earlier this year, read The Promise by Nicola Davies, to schoolchildren during a visit to Five Islands Academy in St Mary's
The Duchess kept her cool under a parasol as she enjoyed a walk on Bryher Island on the Isles of Scilly. She even did some holiday shopping during her visit, paying £20 for a bowl.
The Prince of Wales enjoyed a pint of local beer at the Duke of York Inn pub in the village of Iddesleigh on the final day of their trip on Wednesday.
Camilla was greeted in the village by author Sir Michael Morpurgo, who was inspired to write his novel War Horse after meeting First World War veteran Wilfred Ellis in the pub almost 30 years ago.
Charles was then handed a pint of Bays Topsail, a local 4 per cent beer, by landlord John Pittam before heading to join his wife at a lunch club for local elderly residents in the pub's garden.
Mr Pittam, 61, told the prince: "This is on the house. Local Devon beer."
The Duchess looked chic in a blue pale dress as she met schoolchildren during a visit to the Burton Art gallery in Bideford.