An Aboriginal man, Wayne 'Coco' Wharton, was arrested near the Sydney Opera House after protesting about the King and Queen's visit to Australia, The Guardian said.
Mr Wharton, who was trying to serve a notice for the King's arrest to the sovereign, shouted to the crowd, calling Charles a "king of thieves and a king of liars".
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It came after Senator Lidia Thorpe shouted "you are not our king" following his address to the Australian parliament on Monday.
Ms Thorpe accused the King of "genocide" against Australia's First Nations, shouting: "This is not your land. You are not my King."
Ms Thorpe, who wore a possum skin coat and carried a traditional message stick, added: "Give us our land back. Give us what you stole from us. Our bones, our skulls, our babies, our people. You destroyed our land."
Greeting Charles in Sydney, Elder Allan Murray from the Metropolitan Local Aboriginal Land Council, appeared to reference Senator Thorpe's remarks.
"Welcome to the country. We've got stories to tell, and I think you witnessed that story yesterday in Canberra, but the story is unwavering and we've got a long way to achieve what we want to achieve and that's our own sovereignty," he said. "But welcome to Gadigal land."