Events for the president’s visit will include a state banquet, speaking in Parliament, meeting the PM in Downing Street and visiting German footballers who play in the Premier League.

German flags were flying along Windsor High Street for the carriage procession, with the King and President Steinmeier travelling together.

Prince William and Catherine were part of the welcoming party, with Catherine wearing earrings that once belonged to Diana, Princess of Wales.

The German visitors were given a formal welcoming ceremony, watching a military parade on the manicured lawns inside Windsor Castle.

Anti-monarchy campaign group Republic said they were prevented by the police from holding a protest and displaying a banner on the route by the procession, saying it was a “disgraceful attack on free speech”.

In response, Thames Valley Police said they had “facilitated a peaceful protest” and officers had “asked them to step back to our designated protest area” and had stopped them using a loudhailer when horses were nearby.

“Everyone has a right to protest, but if these demonstrations become disruptive or a threat to the public or animals in the procession, we will take appropriate action,” said the police, who added no arrests had been made.

State visits are planned by the Foreign Office to cultivate diplomatic relations with important partners.

And this visit is intended to reinforce the Kensington Treaty, signed between the UK and Germany in July, which emphasised military and business co-operation and closer links between the countries, including plans for a direct rail link.

The UK government is also hoping for more help from Germany in stopping illegal migration. The National Crime Agency has previously said equipment used to cross the Channel has been stored in Germany.

With Christmas approaching there are also likely to be references to the German roots of some Christmas traditions, including popularising the Christmas tree by Queen Victoria’s husband Albert.

Although without any snow to try it out, the visitors will be shown a sleigh designed by the German-born Prince Albert in 1845.

There will be symbolic signs of reconciliation, including a visit by the German president to the ruins of Coventry Cathedral, bombed during the Second World War.

This mirrors a visit to Hamburg during the UK state visit to Germany, when King Charles laid a wreath remembering the civilian casualties of wartime Allied bombing raids.

Oxford University will award an honorary degree to President Steinmeier, on a trip where he will be shown medical technology at the university and joint UK and German research projects.

Ms Budenbender will visit the Judith Kerr Primary School, in south-east London, to mark the connection to its namesake, Judith Kerr, the German-born author of the children’s book The Tiger Who Came to Tea.

The German president will go to the Queen Elizabeth Olympic Park to meet German footballers who play in the English Premier League.

And at the V&A East Storehouse the visitors will see the David Bowie Centre, which contains items related to the pop star, such as stage outfits and musical instruments.