Belgium's King Philippe and Queen Mathilde rolled out the red carpet for Japanese Emperor Naruhito and Empress Masako at the Royal Palace of Brussels on Tuesday.

The Japanese imperial couple was welcomed with full military honours as they began an official state visit to Belgium. The two royal families inspected an honour guard and posed for photographs before entering the palace.

Hundreds of spectators gathered outside the palace, many waving Japanese flags to catch a glimpse of the ceremony.

The visit highlights the longstanding ties between Japan and Belgium. Diplomatic relations between the two countries date back to 1866, when members of the Belgian and Japanese royal families first exchanged visits.