In pictures: William, Kate, Charlotte and George arrive in Berlin

Princess Charlotte stole the the show during the latest leg of the Duke and Duchess of Cambridge’s European tour – scampering up the plane’s steps and receiving her first official bouquet.

When William and Kate said goodbye to Poland, the two-year-old scaled the private jet’s steep steps using her hands and feet.

Kate watched carefully as her daughter made her way up to the cabin of the Embraer Legacy 600 jet, following her brother, Prince George, who had been eager to board the flight to Berlin.

The Duke and Duchess were leaving Warsaw after a two-day visit that saw them celebrate the nation’s history, culture and ties with the UK.

When the family arrived in the Polish capital, Warsaw, on Monday, George, who will turn four on Saturday, looked shy and reluctant to take part in the official welcome staged by the European nation.

However for the official departure he strode confidently across the airport runway, holding hands with his mother and father.

He even tugged at William’s hand as he was saying goodbye to waiting dignitaries, appearing eager to board the plane. He then went ahead of his father and carefully climbed the steps of the jet, which seats 13 people.

When the plane touched down in Berlin, where a small group of officials were waiting to greet the royal visitors, Charlotte was spotted peering out of a window.

After clambering up the plane steps in Warsaw, the journey down them in Berlin was slower, with the young princess holding on to a rail with one hand while clasping Kate’s fingers with the other.

Till Knorn, the German government’s head of protocol, presented the Duchess and her daughter with a posy each.

Charlotte’s floral gift was a miniature version of her mother’s and, as she smelt her bouquet, George, who was holding William’s hand, reached out for Kate’s posy and she lifted it out of his way.

The three-year-old prince appeared a little bored with the formalities of the official welcome and at one point buried his face in his arm as William chatted to Sir Sebastian Wood, Britain’s ambassador to Germany.

As William and Kate made their way along the line of dignitaries on the runway, Brigadier Rob Rider, the British embassy’s defence attache, shook hands with the two-year-old princess.

Kate, who was wearing a Catherine Walker dress, walked off the red carpet with her daughter, husband and son to start their three-day tour of Germany.

Later the Duke and Duchess had extended discussions with Chancellor Angela Merkel, meeting her at the German Chancellery.

Flanked by security the beaming royal couple shook hands with Mrs Merkel as a European flag fluttered in the background.

Kate and William – both wearing blue which is seen as representative of unity and solidarity in the EU – have been dubbed Brexit ambassadors, helping to maintain ties with Europe as Britain leaves the EU.

Welcoming Kate, Mrs Merkel asked if she spoke German to which a smiling Kate replied: “No, no. Sorry.”

The trio then stood for pictures on a red carpet before Kate ushered William to stand between herself and Mrs Merkel for a final pose. They then headed inside the building for a private lunch.

William and Kate visited Berlin’s most famous landmark, the Brandenburg Gate, where large crowds were present to greet the royal visitors.

The monument used to mark the dividing line between East and West Berlin during the Cold War days.

William and Kate also showed up at the Strassenkinder charity which cares for 200 children on a daily basis.

A visit to German president Frank-Walter Steinmeier at the Bellevue Palace saw the royal couple sign in.

During the visit to the Bellevue Palace there was also an opportunity for the couple to have a moment in private.

These opportunities have been rare on a tour where they have juggled parenthood with official duties.

The Holocaust Memorial gave the royal pair opportunity to reflect on events when UK-German relations were less cordial than they are today.