King Charles and Queen Camilla Visit Wales to Complete U.K. Tour Following Queen Elizabeth's Death

King Charles III is continuing his tour of the United Kingdom following the death of his mother, Queen Elizabeth.

The new British monarch, 73, was accompanied by his wife, Queen Camilla, in Wales on Friday as they attended a service of prayer and reflection for the life of the Queen at Llandaff Cathedral in the capital city of Cardiff.

Charles and Camilla, 75, also received a Motion of Condolence at the Senedd, while the King is set to conduct audiences at Cardiff Castle and attend a reception for local charities with Camilla.

As the King and Queen Consort arrived by helicopter, the occasion was signaled with a royal gun salute from the 104 Regiment Royal Artillery at Cardiff Castle.

Following the service at Llandaff Cathedral, Charles and Camilla were driven to the bayside Senedd — or Welsh Parliament.

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With a wave to the crowd, Charles and Camilla — who was walking okay despite a broken toe that she's been nursing all week — went into the Parliament building. There, former royal harpist Claire Jones played a specially-composed piece as the couple made their way through the Senedd to hear the motion of condolence.

Andrew Matthews-WPA Pool/Getty Images King Charles

King Charles gave remarks following the motion of condolence, alternating between Welsh and English.

"Through all the years of her reign, the land of Wales could not have been closer to my mother's heart," he said.

"I take up my new duties with immense gratitude for the privilege of having been able to serve as Prince of Wales.   That ancient title, dating from the time of those great Welsh rulers, like Llywelyn ap Gruffudd, whose memory is still rightly honored, I now pass to my son, William, whose love for this corner of the Earth is made all the greater by the years he himself has spent here," he continued.

Frank Augstein - Pool/Getty Images King Charles

In a heartfelt speech, Elin Jones, the Presiding Officer of the Welsh Parliament, spoke of the Queen's many visits to Wales and even referenced her love of Welsh corgis.

"The stories and tributes paid by members to the Queen when we convened on Sunday were warm and witty. As you may imagine, there were many mentions of corgis — her constant, lifelong Welsh companions. Corgi, a Welsh word. Literally small dog. And of course, the members here representing Pembrokeshire were particularly keen to champion her preference for the Pembrokeshire corgi. And the member for Ceredigion, me, was silent, and ever so slightly jealous, of the Queen's choice of the Pembrokeshire corgi over the Cardiganshire corgi."

Jones, the former royal harpist, tells PEOPLE: "It was a very special moment — having played for him 180 times, it was so special to do so today as he is King."

Matthew Horwood/Getty Images King Charles and Queen Camilla

After the ceremony in the Senedd, the couple walked down the steps to cheers from the crowd of about a thousand well-wishers, including schoolchildren from Victoria Primary School.

"They were fantastic, both so friendly," teacher Melanie Gape tells PEOPLE. "They shook every single child's hand and the children were ecstatic. The King said they were very lucky to have the day off and joked with them about whether they had to go back to school today."

One of the students, Tommy, 9, said he told Charles, "I hope you have a great time in Wales and he said 'I always do. It's such a lovely place.'"

Frank Augstein - Pool/Getty Images King Charles

The royals also spoke with Roma Taylor, 78, from Butetown, Cardiff.

"He was lovely. But it's a shame that he is grieving and is doing this. He will be alright. It must be difficult. But they don't show that it was difficult. It's wonderful that they can come and see those who enjoyed his mother so much," she tells PEOPLE.

Taylor, who came to the U.K. from the Caribbean when she was 15, told Charles she's the leader of the Windrush Elders in Wales — a reference to the so-called Windrush generation of early emigrants to Britain, whose heritage Charles has championed.

He said, "Oh, next year is a big year for you" — a reference to the 75th anniversary of the Windrush ship arriving in Britain.

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Shorief Ali, 18, from Cardiff tells PEOPLE he passed on his "heartfelt condolence for the tough time he is going through. I told him the nation of Wales was behind him."

"He seemed very appreciative — he smiled and thanked me. It was a lovely atmosphere— but it's bittersweet. We're ushering in a new King but saying goodbye to the Queen we've known so long."

The visit was poignant for Camilla and Charles, as the monarch held the title of Prince of Wales for more than 60 years before becoming monarch immediately upon the death of his mother Queen Elizabeth, who died September 8 at age 96.

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FACUNDO ARRIZABALAGA/EPA-EFE/Shutterstock Queen Camilla and King Charles

RELATED: King Charles Makes First Appearance as Monarch Following Queen Elizabeth's Death

Wales also marks the last country in the U.K. that the new monarch has visited since the Queen's death.

King Charles traveled to Belfast, Northern Ireland earlier this week with Queen Camilla. The couple arrived at Hillsborough Castle on Tuesday, where they viewed the flowers, notes and other tributes left in honor of the late Queen.

Jacob King/PA Images via Getty Images King Charles

They also greeted well-wishers outside the castle, including a corgi named Connie who caught the attention of King Charles. The monarch smiled and pointed at the dog before giving her a royal pet on the head.

"In the years since she began her long life of public service, my mother saw Northern Ireland pass through momentous and historic changes," Charles said in a speech during his visit. "Through all those years, she never ceased to pray for the best of times for this place and for its people, whose stories she knew, whose sorrows our Family had felt, and for whom she had a great affection and regard."

"My mother felt deeply, I know, the significance of the role she herself played in bringing together those whom history had separated, and in extending a hand to make possible the healing of long-held hurts," he continued. At the very beginning of her life of service, The Queen made a pledge to dedicate herself to her country and her people and to maintain the principles of constitutional government. This promise she kept with steadfast faith. Now, with that shining example before me, and with God's help, I take up my new duties resolved to seek the welfare of all the inhabitants of Northern Ireland."

FRANK AUGSTEIN/POOL/AFP via Getty Images King Charles and Queen Camilla

They attended engagements in Scotland on Monday, including the Queen's four children following her coffin in a procession through Edinburgh and later standing vigil inside St. Giles' Cathedral.

On Tuesday, Charles and Camilla returned to London to receive Queen Elizabeth's coffin at Buckingham Palace, which came from Scotland, accompanied by Princess Anne. The Queen's coffin then processed through London on Wednesday to Westminster Abbey, where it will lie in state as visitors pay their respects until the funeral.