Queen Camilla goes barefoot in bold display as she joins forces with King Charles

The crowd screamed "Welcome to Australia" as the royal couple descended from the iconic building's steps.

Queen Camilla held the King's arm for support as she walked down the steps toward the crowd.

At one point, King Charles mouthed "magnificent" to the Queen while he clapped to a school performance on the steps of the Opera House.

To finish their six-day trip to Australia, the pair observed Operation Regal - a military display by the Australian Defence Force around Sydney's iconic Harbour.

Their Majesties conducted a Navy fleet review before boarding the Admiral Hudson vessel from the Man O'War Steps.

However, the Queen showed signs she was struggling with the comfort of her heels.

During the Fleet Review, she was spotted leaning on the side of the boat for support, as King Charles gazed down at her feet with concern.

After spending a long day walking around Sydney, Her Majesty ditched her heels as she returned to Admiralty House with the King.

She was spotted barefoot as she climbed the steps from the wharf with one hand on the rail and the other holding her heels, bag and coat.

Despite her aching and tired feet, she told one well-wisher she and the King were enjoying Australia's sunshine, claiming: "I wish we were staying longer."

Earlier in the day, the King and Queen were invited to help with a traditional Australian barbecue hosted by NSW Premier Chris Minns and his wife Anna.

The royal couple attended the community barbecue at Parramatta Park and were encouraged to use tongs "the Aussie way" as they cooked sausages.

Scott McCoy, 42, manager of Black Bear BBQ restaurant in Sydney and better known by the nickname "Chop", said it was "an honour" to have some royal helpers.

Chop said: "I'm still shaking. It was great."

The King and Queen declined a chance to taste any of the sausages, which included lamb, beef, pork and vegetarian variations.

Chop said the Queen was instructed to use the tongs "the Aussie way" to turn the "snags" (sausages) by clicking them twice before she used them.

Chop said that the King and Queen thought the sausages were "amazing" and that they "could tell they were great without trying them".