The Queen has greeted US President Barack Obama, and his wife Michelle, at the start of his first UK state visit. The Obamas also met Prince Charles and the Duchess of Cornwall and spent 20 minutes with newlyweds the Duke and Duchess of Cambridge.
They have laid a wreath on the Tomb of the Unknown Warrior in Westminster Abbey and will attend a state banquet at Buckingham Palace.
It came after David Cameron and Mr Obama spoke of "essential" UK-US ties.
'Common interests'
In a joint article in the Times, Mr Obama and Mr Cameron said of their countries' relationship: "Ours is not just a special relationship, it is an essential relationship - for us and for the world.
"When the United States and Britain stand together, our people and people around the world can become more secure and more prosperous.
"The reason it thrives is because it advances our common interests and shared values. It is a perfect alignment of what we both need and what we both believe."
Mr Obama briefly met the prime minister in Downing Street ahead of talks on Wednesday.
The leaders are likely to focus on the Middle East and the ongoing conflict in Libya.
In their article, they also vowed not to abandon the protesters fighting for democracy in Arab countries, writing that they would "stand with those who want to bring light into dark, support those who seek freedom in place of repression, aid those laying the building blocks of democracy.
"We will not stand by as their aspirations get crushed in a hail of bombs, bullets and mortar fire.
"We are reluctant to use force, but when our interests and values come together, we know we have a responsibility to act."
Mr Obama arrived in the UK a day ahead of schedule on Monday, to avoid any disruption from a volcanic ash cloud.
The president flew into Stansted, in Essex, with wife Michelle after leaving the Republic of Ireland, where his week-long tour of Europe began.
The couple spent the night at US ambassador's residence Winfield House, in London's Regent's Park.
After the president was welcomed there by Prince Charles and his wife, his cavalcade made its way to Buckingham Palace where he joined the Queen.
The Obamas were shown to the suite where they will be staying during the visit, and met Prince and Princess William before moving to the palace gardens.
There was a ceremonial welcome on the lawn of Buckingham Palace, where the president received a 41-gun salute and joined the Duke of Edinburgh to inspect a Guard of Honour.
He then had a private lunch with the Queen and other guests, including the Countess of Wessex, the Duke of York, the Prince of Wales, the Duchess of Cornwall, Hilary Clinton and the American ambassador to London.
After lunch Mr Obama was given a tour of the royal collection by the Queen and the Duke of Edinburgh.
As is customary, there was an exchange of gifts, with the Obamas presenting the Queen with a collection of memorabilia and photographs from her parents' 1939 visit to the US.
They also received a selection of letters from the royal achives, between past US presidents and English monarchs.
Michelle Obama was also given an antique brooch made of gold and red coral in the form of roses.
State banquet
The Obamas are due to return to Buckingham Palace to meet Labour leader Ed Miliband.
In the evening there will be a state banquet at Buckingham Palace, where they will stay overnight.
After talks with Mr Cameron in Downing Street on Wednesday, Mr Obama is due to be joined his wife and British and American military veterans for a barbecue at Number 10.
There will be a news conference before the president departs for the Houses of Parliament, where he will give a speech about US foreign policy to MPs in Westminster Hall.
The day will be rounded off with a return banquet at Winfield House, where the Queen will formally say farewell.
The state visit to the UK is the 101st to be hosted by the Queen but only the third involving a US president in 100 years. The last US president to visit officially was George Bush in 2003.
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