Catherine Connolly, the president of Ireland, revealed that she had extended the invitation to the monarch on Monday, at the start of a three-day visit to London and Leeds.
The pair were photographed shaking hands and smiling for the cameras at Buckingham Palace.
Ms Connolly described the hour-long meeting as “wonderful”. She said: “As president of Ireland, I was delighted to meet this afternoon with His Majesty King Charles when I appreciated very much the warm welcome which he extended.
“King Charles knows Ireland well and has been a positive voice for peace and reconciliation.”
The King and Queen last visited Belfast in March 2025. The previous year, the Queen was forced to make a solo visit as she sought to “keep the show on the road” while the King had cancer treatment.
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