Charles, 75, reportedly had lunch with his daughter-in-law Kate, before Kensington Palace released a moving video message from the Princess, in which revealed that she was undergoing "preventative chemotherapy".
Following the news, a Buckingham Palace spokesperson said that the King, who is battling his own undisclosed form of cancer, is "so proud of Catherine for her courage in speaking as she did".
Kate, who first met Charles, when she began dating Prince William during their university years, has long shared a close bond with her father-in-law.
When asked about being introduced to the royal family in her engagement interview, the future Princess revealed: "I was quite nervous about meeting William's father, but he was very, very welcoming, very friendly, it couldn't have gone easier really for me."
MORE ON PRINCESS KATE HEALTH
With the King once describing Kate as his "darling daughter-in-law," their admiration and respect for one another is evident.
Take a look at Kate and Charles's sweetest moments through the years.
A shared love of art
The camaraderie between Charles and his daughter-in-law was very much apparent on a visit to Dulwich Picture Gallery.
The pair enjoyed a giggle as they got involved with the arts and crafts.
We love this shot of Charles, William and Kate laughing together during a visit to Dumfries House in 2013. Oh to be a fly on the wall!
A warm greeting
The Princess greeted her father-in-law warmly as the royal family attended the Passchendaele Commemorations in Ypres, Belgium in 2017.
A joint outing
The Princess joined Charles and Camilla for a joint engagement at Trinity Buoy Wharf in London - a training site for arts and culture.
HELLO! understands that Kate was invited to join the visit by her father-in-law, Charles, in recognition of their shared interest and longstanding support of the arts and creative industries.
Buckingham Palace garden party
In fact, Kate joined Charles and Camilla at a number of engagements when Prince William was working away as a search and rescue pilot.
The trio looked like they had the best time at a Buckingham Palace garden party in 2012.
Grandpa Charles
The Duchess also joined Charles and Camilla at another garden party a year later, when she was expecting her first child, Prince George.
The Waleses carried out a rare engagement with Charles and Camilla in February 2020 as they visited the Defence Medical Rehabilitation Centre (DMRC) in Loughborough.
The King always seems to make Kate giggle in public.
A right royal Christmas
Charles and Kate were spotted deep in conversation as they left the annual church service together in Sandringham on Christmas Day in 2014.
Garter Day
Kate was captured beaming at her father-in-law as they shared a carriage in Windsor to mark Garter Day in 2014.
The Order of the Garter is the senior and oldest British Order of Chivalry, founded by Edward III in 1348.
Membership in the order is limited to the King, the Prince of Wales, and no more than twenty-four members.
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