The King found himself in the middle of a scrum when he accepted a hug from a New Zealand women’s rugby player.
Charles laughed as he was affectionately mobbed by the Black Ferns, who are in the UK to play England’s Red Roses, after he said "hug, why not."
Winger Ayesha Leti-I’iga had made the request and her teammates joined in, leaving the monarch giggling from the group hug during a Buckingham Palace reception.
The King later made the squad laugh during an impromptu speech, when he said: "I much appreciated this chance to meet you and have such a warm hug from most of you," adding that it was "very healing."
King Charles called the meeting "very healing"
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Details of Charles’ first major tour since his cancer diagnosis were released on Tuesday, with the King travelling to Australia and making a state visit to Samoa for a Commonwealth leaders’ summit.
But he will not travel to New Zealand and said: "I’m extremely sorry I can’t come to New Zealand in October because of doctor’s orders, but I hope there’ll be another excuse (to come) before not too long."
The King also hosted a reception with president of Nigeria Bola Ahmed Tinubu.
Champagne was served for His Majesty’s guests but the sportswomen opted for fruit juice and water and the King made the players laugh when he joked about the situation. He said: "I’m so pleased to have this opportunity to greet you all, for a short moment, apparently not to be able to give you a drink."
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King Charles had his photograph taken with New Zealand's Black Ferns rugby union team
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King Charles during an audience with the President of Nigeria Bola Ahmed Tinubu
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The King will fly to Australia and Samoa for the first long-haul overseas tour since his cancer diagnosis and join world leaders at a major Commonwealth summit.
Charles and Camilla will pass a number of milestones in their roles as monarch and consort during their southern hemisphere visit over nine days from October 18-26.
The health of the monarch will be a factor during the visit as the King has been receiving treatment as an out-patient for an undisclosed form of cancer since February.
The programme is likely to be designed to afford him time to rest and recover from the many hours he will spend flying during his trip.
King Charles ended up in the middle of a scrum
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The King is head of the Commonwealth and for the first time will preside over the gathering of presidents and prime ministers as head of state, during the event hosted by Samoa which will also be attended by Sir Keir Starmer.
Charles deputised for Queen Elizabeth II during the last Commonwealth Heads of Government Meeting (CHOGM) staged by Rwanda in 2022, but will now welcome the representatives as head of state.
His trip to Samoa has the status of a state visit and the royal couple will be joined by Foreign Secretary David Lammy, while the Australian tour is also significant as Charles is the nation’s head of state.