Well-wishers gathered at the railway station from early morning, waving flags and wearing Union flag hats as the monarch arrived in town shortly after 10.30am.
The King took the time to shake hands with residents and also admired a corgi puppy one Lancastrian brought along specially for the royal occasion.
The atmosphere was festive as families, children and long-time royal supporters lined the route to welcome His Majesty.
Here are 16 photos capturing the royal visit as it unfolded:
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