Their plane landed just before 12.30pm, having taken off from RAF Northolt in Hillingdon, west London.
They were met by Scotland’s First Minister Nicola Sturgeon and the Lord Provost of the City of Edinburgh Robert Aldridge.
While Camilla got into the waiting car, Charles briefly spoke with Secretary of State for Scotland Alister Jack, Police Scotland chief constable Sir Iain Livingstone and Edinburgh Airport chairman Sir John Elvidge.
The royal couple were then driven from the airport, escorted by police.
The King is due to inspect a guard of honour at the Palace of Holyroodhouse before attending a Ceremony of the Keys on the forecourt.
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The scene at Palace of Holyroodhouse Photo: JPI
14. Police officers on the Royal Mile in Edinburgh ahead of the procession of Queen Elizabeth's coffin from the Palace of Holyroodhouse to St Giles' Cathedral
Police officers on the Royal Mile in Edinburgh ahead of the procession of Queen Elizabeth's coffin from the Palace of Holyroodhouse to St Giles' Cathedral, Edinburgh, following her death on Thursday. Picture date: Monday September 12, 2022. Photo: Andrew Milligan
15. The Keys of the City of Edinburgh which will be offered to King Charles III during the Ceremony of the Keys
The Keys of the City of Edinburgh which will be offered to King Charles III during the Ceremony of the Keys at the Palace of Holyroodhouse, Edinburgh. Picture date: Monday September 12, 2022. Photo: Peter Byrne