They were met by government officials with the Speaker of Parliament, Prof Mike Ocquaye spearheading the delegation.
The visits will highlight key themes in these relationships, including the importance of our Commonwealth ties.
"Their Royal Highnesses' visit to Ghana comes at an opportune moment", said British High Commissioner, H.E. Iain Walker in a press statement.
While the Prince of Charles has previously visited Ghana and Nigeria, the royal couple will be visiting Gambia for the first time.
Following their arrival they were taken to the Jubilee House to meet President Nana Addo Akufo-Addo.
He said Ghana was influenced by British values and institutional arrangements and that a large number of Ghanaians had been living in the UK.
Britain's Prince Charles congratulated Gambia on Thursday for turning its back on "autocratic" rule at home and returning to the Commonwealth fold as he began a nine-day Africa tour.
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The Prince of Wales would also confer with Asantehene Otumfuo Osei Tutu II at the Manhyia Palace.
They will also make a trip to the Christianborg Castle which was previously owned by the British.
Earlier at the Kotoka International Airport, Prince Charles and his wife, Camilla, had been given a warm welcome on their arrival.
After the welcome remarks by President Akufo-Addo, the meeting between him and Prince Charles retired into a closed-door session.
Meanwhile, the Duchess, who is President of the Women of the World Festival, would attend an event featuring Ghana's top female leaders.
The Prince of Wales who ended an official visit to The Gambia on Friday has made a vow toward the country's infrastructural development.Rounding off a three-day visit to the country, Prince Charles promised that the United Kingdom would become more involved in efforts to improve Gambia's fledgling infrastructure.