President Xi Jinping talks with Prince Charles (left) at a hotel in central London on Tuesday, on the first official day of Xi's state visit. The president later addressed both Houses of Parliament and dined with Queen Elizabeth on Tuesday. JUSTIN TALLIS / AP

Prince Charles and Prince William gave President Xi Jinping and first lady Peng Liyuan a warm welcome on Tuesday, continuing the tradition of close relationships they have developed with China in recent years.

Xi, who arrived in London on Monday evening, was greeted by the Prince of Wales and Duchess of Cornwall at the Royal Mandarin Hotel in the city on Tuesday morning.

Later, Xi visited Clarence House to have tea with Prince Charles and the Duchess of Cornwall at their London home, before arriving at Buckingham Palace to meet with Prince William, the Duke of Cambridge.

Clarence House, situated in the City of Westminster, is attached to St James's Palace and shares the palace's garden. Since 2002, it has been the official residence of the Prince of Wales and Duchess of Cornwall.

Queen Elizabeth hosted a state banquet in the president's honor.

In recent years, Prince Charles and Prince William have developed a close relationship with China.

During this year's Chinese New Year, the Prince of Wales and the Duchess of Cornwall opened a Chinese cultural center in the heart of London's Chinatown. The center, known as the China Exchange, provides two large spaces for exhibitions, performances, lectures and special events.

It is also used to host discussions on issues such as culture, business, the environment, education, enterprise, medicine, religion, economy, anthropology, architecture and philosophy.