The official visit to the Republic of Britain's Prince Charles and his wife, the Duchess of Cornwall, has ended with the couple spending the evening at Sligo Races.

Earlier the couple visited Mullaghmore in Co Sligo - the place where Prince Charles' great-uncle, Lord Mountbatten, was murdered by the IRA.

Prince Charles and Camilla arrived to a warm reception from hundreds of onlookers.

Local people clapped and cheered as the prince began his tour of what is regarded as one of the most significant events of his four-day visit to Ireland.

He visited the local peace garden before going on to a private meeting with local people who were in Mullaghmore on the day of the IRA explosion that killed his great-uncle in August 1979.

John Maxwell, who lost his teenage son Paul, was among the people to meet him at the Pier House Hotel - the place where the bodies of the dead and injured were taken ashore.

Lord Mountbatten's 14-year-old grandson, Nicholas Knatchbull, also lost his life.

His twin Timothy survived the explosion and was in Co Sligo today with his wife Isabella.

British Ambassador Dominic Chilcott said it has been wonderful to see the engagement of Prince Charles and the Duchess of Cornwall with the people of Sligo and Galway.

He told RTÉ's Six One that the couple love being in Ireland and really wanted to visit for sometime.

Mr Chilcott said the prince's visit to the Burren reconciled farming with his recreational habits.

The ambassador said today has been an emotional day, but the greeting and warmth of people has "kept them all going".

Prince Charles earlier said he feels the pain of other victims of the 30-year conflict on the island of Ireland.

Addressing an audience at the Model Arts Centre, the prince said working to end the conflict in Northern Ireland has brought Irish and British governments closer together.

Prince Charles' speech at the Model Arts Centre, Sligo

"We all have regrets" about the past he said, adding that he is only too deeply aware of the long history of suffering Ireland has endured.

He said Ireland and Britain need no longer be victims of their difficult history with each other.

He also quoted from Queen Elizabeth's 2011 speech in Dublin Castle about historical hindsight.

Referring to Lord Mountbatten, Prince Charles said: "At the time I could not imagine how we would come to terms with the anguish of such a deep loss, since for me Lord Mountbatten represented a grandfather that I never had.

"So it seemed as if the foundations of all we hold dear in life had been torn apart irreparably through this dreadful experience.

"I now understand, in a profound way, the agony borne by so many others in these islands of whatever faith, denomination or political tradition," he added.

Minister for Foreign Affairs Charlie Flanagan welcomed the prince to Sligo, pointing to the modern, dynamic and friendly relations Ireland and Britain enjoy today.

Minister for Foreign Affairs Charlie Flanagan welcomes Prince Charles

Speaking at a civic reception, Mr Flanagan said Prince Charles' remarks "returned to the themes of peace, reconciliation and dealing with the contentious legacy of the past".

The minister added that he hoped events this afternoon will bring "further healing as we all reflect on those dark moments across these islands".

Crowds of people including local school children lined the streets to welcome Charles and his wife, Camilla, this morning.

Prince Charles and the Duchess of Cornwall also attended a service of peace and reconciliation at St Columba's Church in nearby Drumcliffe.

Around 160 people filled the church for the multi-denominational mass, and among the congregation was John Maxwell, whose son was killed in the IRA bombing of Lord Mountbatten's boat.

Students sang during the ceremony, including 17-year-old Bethany McLoughlin, whose grandfather Gerard McKinney was shot dead by paratroopers on Bloody Sunday.

Former President Mary McAleese read the first reading and the second reading was read by British Ambassador to Ireland Dominick Chilcott.

Bishop Ferran Glenfield spoke of acknowledging the transformation of relations, and how trust has been achieved out of turmoil.

He described this as a milestone moment in which people remember the horror of the recent past, savour the comfort of the present and hope for a better future together as friends.

The royals also visited the burial site of poet WB Yeats in the church graveyard and planted a tree in the grounds.

After their visit to Mullaghmore, the couple visited Sligo Institute of Technology and spent the evening at Sligo races.

The royal couple presented trophies and plates to the winning jockey, owner and trainer of Mollyanna, who won the Duke and Duchess of Cornwall Mare Maiden Hurdle.

Gallery: Day Two

Gallery: Day One