Young fans screamed, chargrilled asparagus was served, and an hourglass was delivered to NSW parliament as King Charles and Queen Camilla graced Sydney for the first full day of engagements as part of the royal tour.

The day began with a church service in which the royal couple greeted Sunday school children and adoring members of the public.

King Charles continued on alone to deliver a speech to NSW parliament, before meeting the Governor-General on the banks of Sydney Harbour at Admiralty House. 

Crowds catch a glimpse at St Thomas' Anglican Church

They came bearing signs, flowers and drawings for the king and queen, lining up in a queue that snaked around St Thomas' Anglican Church in Sydney.

Among the crowd of around 150 fans were a number of children who waited patiently with a multitude of gifts as King Charles and Queen Camilla, wearing a pale green dress and straw hat, arrived for a service.

Mary Cashin came with her five-year-old son Billy to catch a glimpse of the king. 

She said her son was "really keen" to come on Sunday as he had previously written to the monarch.

Billy came armed with the king's response and a homemade sign to welcome the royals to Australia.

Another woman, Lisa Kenny, shook the king and queen's hands, and hours later was still shaking, describing the royal couple as "gracious".

Once inside, the royal couple were met by Archbishop of Sydney Kanishka Raffel and children from the church's Sunday school.

Bishop Christopher Edwards delivered a prayer, asking for the protection of the king and queen, an end to war and lasting world peace. 

Upon arrival at the building, Charles passed by the cornerstone of the church that was unveiled in 1881 by his then-teenage great-grandfather King George V, who ascended the throne in 1910.

Charles and Camilla also signed two Bibles in black pen, including one that belonged to Richard Johnson, who was the chaplain on the First Fleet.

Adoration of royals 'sickening', protester says

Also waiting at the church was a group of protesters, including Wayne Wharton from the First Nations Resistance group.

He said it was "sickening" to see so many gathered to welcome the royals.

"To have this rubbed in our faces is an insult every day that we are alive," he said.

Behind a line of police officers, the demonstrators chanted "no pride in genocide" and "Australia is a crime scene".

Sands of time in NSW parliament

The next stop was the NSW Legislative Council, albeit without Queen Camilla.

The royal visit presented an opportunity to mark the bicentenary of the NSW Legislative Council, the upper house, which first met on August 2, 1824. 

The king presented the chamber with an hourglass, "in the spirit of marking the passage of time".

He drew laughter with his description of the instrument as a "speech timer".

"It is, in fact, an hourglass, a speech timer … to sit in the chamber and bear witness to the Legislative Council's next chapter," King Charles told the chamber. 

"So with the sounds of sands of time encouraging brevity, it just remains for me to say what a great joy it is to come to Australia for the first time as sovereign and to renew a love of this country and its people which I have cherished for so long."

The bicentenary event rounded out with a lunch of chargrilled asparagus, marinated octopus, barramundi, duck confit and lemon meringue pie. 

But King Charles never got a taste, and instead made a quick but friendly exit from parliament after his speech. 

As the king said his goodbyes, Vaucluse MP Kellie Sloane managed to stop him for a chat, informing him the surf clubs in her electorate sent their best wishes.

"The moment I said the word 'Bondi', there was a twinkle in his eye, and he was engaged," Ms Sloane told the ABC.

"He said, 'I wish I could have another dip'."

"I said, 'Perhaps you can sneak one in when no-one's watching'."

Home to Admiralty House

The king rejoined the queen at Admiralty House to finish the day. 

The castle-like property on the banks of Sydney Harbour has proved a suitable residence for royals visiting Sydney.

There, King Charles received Governor-General Sam Mostyn as well as NSW Governor Margaret Beazley. 

On Monday, the royals will continue their visit in Canberra before returning to Sydney to greet crowds at the Opera House.