The royal couple were greeted with a Guard of Honour from Germany's Federal Defence Forces to mark their arrival in the capital.
Camilla stepped out in an elegant cream ensemble for the first day of the tour, accessorising with matching leather gloves and her trademark layered pearl necklace.
The 71-year-old Duchess toted a fashion forward snakeskin clutch and wore her signature makeup finished with warm coral lipstick to greet well wishers at the Brandenburg Gate.
Take a look at the couple's walkabout HERE!
During the walkabout, conversation quickly turned to the arrival of Baby Sussex, with Charles admitting that he was yet to meet Prince Harry's first born.
"We couldn't be more delighted at the news and we're looking forward to meeting the baby when we return," the Prince of Wales told the press in Berlin.
The Prince and the Duchess then attended the Queen's Birthday Party at the British Ambassador's residence on Tuesday evening, toasting glasses of champagne to the monarch's 93rd year.
In a speech given in English and German, Charles stressed the importance of continued friendship between the two nations.
"Whatever the shape of our future relationship, and whatever is negotiated and agreed between governments and institutions, it is more clear for me than it has ever been that the bonds between us will and must endure," the Prince said.
Britain's royal dynasty is descended from Germany's Saxe-Coburg-Gotha families, Deutsche Welle reports.
Charles and Camilla will visit Munich and Leipzig on Thursday.