Ahead of the visit, Prince Charles said he was delighted to be returning to Ghana which he first visited more than 40 years ago.
The heir to the throne and the Duchess of Cornwall had a busy day in Gambia where highlights included the prince's visit to the Gambian Armed Forces Training School while his wife attended a Commonwealth Big Lunch at the High Commissioner's residence.
Following the breakup, Queen Elizabeth came to Ghana in 1961 - a visit signalling that the two countries were ready to fix severed ties.
While the Prince of Charles has previously visited Ghana and Nigeria, the royal couple will be visiting Gambia for the first time. "Some of them were happy, some of them not so happy". Meanwhile, Camilla, who is President of the Women of the World Festival, will attend an event featuring Ghana's top female leaders.
Prince Charles visited the Gambian Armed Forces Training School to meet with the Chief of the Defence Staff and attend an global human rights lesson.
Travelling separately for part of the trip to allow them to meet more people, the Duchess visited the National Cultural Centre where she bought drums as a gift for each of her grandchildren.
"I also call on the United Kingdom with whom we have close historical ties to continue to support us through enhancing trade, investment and economic cooperation", he said.
Husband Prince Charles looked dapper, too, choosing a navy double-breasted suit and a pretty floral buttonhole for his arrival.
The Royal visit will celebrate the U.K.'s dynamic, forward-looking partnerships with these Commonwealth Nations on a range of shared priorities.
The Gambia was welcomed back into the Commonwealth during a visit by the Gambian president to London earlier this year.