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The King of Spain said he is confident his country and Britain can overcome their “differences” over Gibraltar in order to reach a solution that is "acceptable” to both sides.

King Felipe brought up the contentious issue – that has split opinion since the UK voted to leave the EU – as he addressed MPs in the Housed of Parliament.

In Wednesday’s Prime Minister’s Questions in the Commons, Tory MP Andrew Rosindell had urged Theresa May to remind the King that Gibraltar is British, despite long-standing Spanish claims on the territory.

During the traditional address, the King spoke in front of both MPs and Lords and was watched by his wife, Queen Letizia.

He said Britain and Spain have a long-shared history and have "frequently stood shoulder to shoulder" as friends, partners and allies, in the best interests of both nations.

"It is just as true, however, that during our rich and fruitful history there have also been estrangements, rivalries and disputes,” he went on.

“But the work and determination of our governments, authorities and citizens have relegated such events to the past.

UK State Visit of the King and Queen of Spain - In pictures 18 show all UK State Visit of the King and Queen of Spain - In pictures 1/18 Spain's King Felipe kisses the hand of The Queen as she greets him during a Ceremonial Welcome on Horse Guards Parade AP 2/18 Household Cavalry riding ahead of a state carriage procession carrying Queen Elizabeth II and King Felipe VI of Spain PA 3/18 King Felipe VI of Spain inspects a guard of honour during a Ceremonial Welcome on Horse Guards Parade Getty Images 4/18 Spain's Queen Letizia with Britain's Prince Phillip Duke of Edinburgh ride in a carriage together EPA 5/18 The Queen and King Felipe VI of Spain ride in a carriage during a State visit by the King and Queen of Spain at Centre Gate, Buckingham Palace Getty Images 6/18 Prime Minister Theresa May and Home Secretary Amber Rudd (left) arrive for the state visit PA 7/18 The Queen stands with Spain's Queen Letizia as their husbands King Felipe and Prince Philip inspect an honour guard during a Ceremonial Welcome on Horse Guards Parade AP 8/18 Prince Philip and Queen Letizia of Spain arrive at Buckingham Palace REUTERS 9/18 EPA 10/18 The Prince of Wales and the Duchess of Cornwall greet King Felipe VI and Letizia of Spain at his hotel in central London at the start of the King's State Visit to the UK PA 11/18 The Queen and Spanish King Felipe VI leave in a state carriage following a ceremonial welcome for his State Visit to the UK on Horse Guards Parade PA 12/18 Queen Elizabeth II, Spain's King Felipe VI and his wife Queen Letizia and Britain's Prince Philip, the Duke of Edinburgh during a welcoming ceremony at Horseguards Parade EPA 13/18 Queen Letizia of Spain meets Camilla, Duchess of Cornwall at their hotel during their state visit to the United Kingdom Getty Images 14/18 Queen Letizia of Spain and Prince Philip, Duke of Edinburgh ride in a carriage during a State visit by the King and Queen of Spain at Centre Gate, Buckingham Palace Getty Images 15/18 Prince Philip, Duke of Edinburgh, Queen Letizia, Spanish King Felipe VI and The Queen pose for a photograph after arriving back at Buckingham Palace after a ceremonial welcome at the start of the Spanish King and Queen's three-day state visit AFP/Getty Images 16/18 King Felipe VI of Spain is greeted by The Queen during a ceremonial welcome for his State Visit to the UK on Horse Guards Parade PA 17/18 King Felipe VI of Spain inspects a guard of honour with the Duke of Edinburgh during a Ceremonial Welcome on Horse Guards Parade PA 18/18 The Horse Guards Parade with The Queen and Spanish King Felipe VI during a welcome ceremony for the Spanish King Felipe VI and Queen Letizia near the Buckingham Palace EPA 1/18 Spain's King Felipe kisses the hand of The Queen as she greets him during a Ceremonial Welcome on Horse Guards Parade AP 2/18 Household Cavalry riding ahead of a state carriage procession carrying Queen Elizabeth II and King Felipe VI of Spain PA 3/18 King Felipe VI of Spain inspects a guard of honour during a Ceremonial Welcome on Horse Guards Parade Getty Images 4/18 Spain's Queen Letizia with Britain's Prince Phillip Duke of Edinburgh ride in a carriage together EPA 5/18 The Queen and King Felipe VI of Spain ride in a carriage during a State visit by the King and Queen of Spain at Centre Gate, Buckingham Palace Getty Images 6/18 Prime Minister Theresa May and Home Secretary Amber Rudd (left) arrive for the state visit PA 7/18 The Queen stands with Spain's Queen Letizia as their husbands King Felipe and Prince Philip inspect an honour guard during a Ceremonial Welcome on Horse Guards Parade AP 8/18 Prince Philip and Queen Letizia of Spain arrive at Buckingham Palace REUTERS 9/18 EPA 10/18 The Prince of Wales and the Duchess of Cornwall greet King Felipe VI and Letizia of Spain at his hotel in central London at the start of the King's State Visit to the UK PA 11/18 The Queen and Spanish King Felipe VI leave in a state carriage following a ceremonial welcome for his State Visit to the UK on Horse Guards Parade PA 12/18 Queen Elizabeth II, Spain's King Felipe VI and his wife Queen Letizia and Britain's Prince Philip, the Duke of Edinburgh during a welcoming ceremony at Horseguards Parade EPA 13/18 Queen Letizia of Spain meets Camilla, Duchess of Cornwall at their hotel during their state visit to the United Kingdom Getty Images 14/18 Queen Letizia of Spain and Prince Philip, Duke of Edinburgh ride in a carriage during a State visit by the King and Queen of Spain at Centre Gate, Buckingham Palace Getty Images 15/18 Prince Philip, Duke of Edinburgh, Queen Letizia, Spanish King Felipe VI and The Queen pose for a photograph after arriving back at Buckingham Palace after a ceremonial welcome at the start of the Spanish King and Queen's three-day state visit AFP/Getty Images 16/18 King Felipe VI of Spain is greeted by The Queen during a ceremonial welcome for his State Visit to the UK on Horse Guards Parade PA 17/18 King Felipe VI of Spain inspects a guard of honour with the Duke of Edinburgh during a Ceremonial Welcome on Horse Guards Parade PA 18/18 The Horse Guards Parade with The Queen and Spanish King Felipe VI during a welcome ceremony for the Spanish King Felipe VI and Queen Letizia near the Buckingham Palace EPA

"I am certain that this resolve to overcome our differences will be even greater in the case of Gibraltar and I am confident that through the necessary dialogue and effort, our two governments will be able to work towards arrangements that are acceptable to all involved."

He added that any Brexit deal must give the thousands of his compatriots in Britain, and UK expats in his country, "sufficient assurance and certainty" over their futures.

King Felipe said those citizens have a "legitimate expectation of decent and stable living conditions".

The King said Brexit "saddens" Spain but that it "fully respects" the will of the British people.

"At the bilateral level, our governments must work with determination to maintain and even improve the network of relations we have built within the European project," he went on.

"This is something that our societies - which are so profoundly intertwined - truly demand of us.

"Given these circumstances, we must particularly bear in mind the thousands of Britons and Spaniards who live in each of our nations, who form a sound foundation for our relations.

"Those citizens have a legitimate expectation of decent and stable living conditions, for themselves and their families.

"I therefore urge our two governments to continue working to ensure that the agreement on the UK's withdrawal from the EU provides sufficient assurance and certainty."