Sydney residents respond to the royal visit as the King and Queen greet Australians with handshakes.

Royal Commentator Nicole Reaney says the health issues faced by King Charles have “humanised” him.

Hundreds of Aussies had the once in a lifetime chance to meet and greet the King and Queen in a rare visit to Australia as they stopped off in Sydney on Sunday.

As part of a historic five-day tour of Australia, King Charles and Queen Camilla stepped out in the sun to greet the many royal revelers, shaking hands and exchanging words with a few lucky Aussies.

The King and Queen attended a church service at St Thomas’ Anglican Church, drawing large crowds of supporters who clamoured to get a glimpse of them, leaving some shaking with excitement.

Sydneysiders react to shaking hands and exchanging words with the King and Queen as they greeted hundreds of royal revellers who flocked to the city to catch a glimpse of the historic visit. Picture: Dean Lewins - Pool/Getty Images

Sydneysiders react to shaking hands and exchanging words with the King and Queen as they greeted hundreds of royal revellers who flocked to the city to catch a glimpse of the historic visit. Picture: Dean Lewins – Pool/Getty Images

It is the first time Charles and Camilla have visited Australia as King and Queen. Picture: Dean Lewins - Pool/Getty Images

It is the first time Charles and Camilla have visited Australia as King and Queen. Picture: Dean Lewins – Pool/Getty Images

“The time the King and Queen gave to the crowd, the fact they stopped and they chatted, it was wonderful,” said one royal watcher outside St Thomas Anglican Church in Sydney.

“I’m so glad I came, I really didn’t think I’d get this close,” said another.

“(King Charles) shook my hand and we had eye contact … I’m shaking, I can’t how much adrenaline is still pumping through me, it’s amazing,” a third said.

Sky News reporter Julia Bradley spoke to two royal fans who recounted the “special moment” they caught the bus into the city to catch a glimpse of the monarch.

“We did not expect to be shaking hands with the king, we’re both shaking now,” one said.

“I had a conversation with him,” said the other.

“Quite a conversation – welcomed him to Australia, said how well he’s doing and he was just like, it’s fabulous, so lovely to be here and such a warm welcome.”

Join Sky News Host Danica De Giorgio as she revisits 70 years of unforgettable Australian royal tours. Stream The Royals in Australia now with a SkyNews.com.au Streaming Subscription. Already subscribed? Watch here.

Sky News reporter Julia Bradley spoke to two royal fans who recounted the “special moment” they caught the bus into the city to catch a glimpse of the monarch. Picture: Sky News Australia

Sky News reporter Julia Bradley spoke to two royal fans who recounted the “special moment” they caught the bus into the city to catch a glimpse of the monarch. Picture: Sky News Australia

Bradley also spoke to a father and son who said they were just walking past when they saw the King’s car pull up and decided to hang back for the chance to greet him.

“Quite excited to see the King … he’s a very kind person so very nice to meet him,” said the father.

Speaking to News.com, royalist Mary-Anne Spring said King Charles made a detour over to where she stood after a young boy called out to the monarch to come and greet them.

Ms Spring said she welcomed the royals to Sydney and wished the King “all the very best” with his cancer treatment after his shock diagnosis announcement in February.

“He said thank you very much I really appreciate it,” Ms Spring said.

“I think it’s good to support them and the work they do.”

King Charles has marked the bicentenary of the NSW Legislative Council with a speech, saying he was “delighted” and “proud” to return to the state parliament.

However, a small group of anti-monarchists sought to disrupt the visit and hurled curses at the King and Queen and unfurled a large banner accusing them of “genocide”.

Officers were also seen checking the underside of cars and sweeping the wider area for any potential security risks.

Despite the small protest, Sunday’s event was a peaceful affair, with the King and Queen taking time to greet well-wishers after the church service before King Charles headed to NSW Parliament to deliver an address.

There the monarch spoke of his “great joy” to be back in the country and even drew laughter from those gathered with a light-hearted quip about how long it had been since his first ever visit.

It is the first time Charles and Camilla have visited Australia as King and Queen.

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