Queen Máxima of the Netherlands and her husband King Willem-Alexander are perfectly in step after 14 years of marriage, showing off their playful sides while in Bavaria, Germany. The royal couple revealed their amazing senses of humour as they joked around in one of the world's oldest art galleries.

Máxima, who was pretty in pink, looped her arm through her husband's as they amusingly stepped through a frame. The king and queen were quite the picture, hopping through the frame and laughing as onlookers applauded them.

The royals were paying a visit to the Alte Pinakothek art museum in Munich. Máxima and Willem-Alexander officially re-opened the Dutch wing of the museum, which houses one of the most famous collections of Old Master paintings.

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Máxima, 44, was her sunny, radiant self as she toured the new wing and admired the artwork on the walls. The mum-of-three, who had left her daughters at home, turned heads in a fuchsia dress and off-centre hat.

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Earlier on Wednesday the glamorous queen and her husband Willem-Alexander visited BMW World. The couple were shown a range of cars including a Mini Cooper range and were also invited to step into a metallic sports car. Máxima looked particularly excited to find herself behind the wheel and pretended to steer.

The royals have received a warm welcome from their neighbouring country. Máxima was presented with a massive gingerbread biscuit that had the king and queen's names sweetly iced on it.

On Thursday the couple continued their two-day visit with a stop at the Medical Valley Centre in Erlangen city.

Máxima once again showed off her sartorial prowess, choosing to recycle one of her favourite grey coats that she has worn at previous engagements. The chic number made by Danish designer Claes Iversen featured faux jewels in the shapes of stars and crosses.