Several protesters who turned up to show their disapproval of the monarchy were arrested before the King and Queen arrived to their first public appearance in Canberra, police say.
People who planned to protest at the Australian War Memorial on Monday morning were "kept away" from entering the main event ahead of the royal visit.
A small group of dissenters carried a long black banner with "decolonise" in large letters.
One protester, who wanted to serve the monarchs with an accusation of "war crimes and genocide" shouted at the police and accused them of perverting the course of justice.
A 62-year-old man was the first to be arrested for allegedly going against police directions.
He was subsequently taken to the ACT Watch House where he would have faced charges for "breach of the peace".
An ACT Policing spokesman said the man was eventually let go after a legal agreement.
"He signed an undertaking to keep the peace, and he was released without charge," the spokesman said.
About 11.30am, a woman aged 21 was also charged with the same offence.
Officers arrested the protester at the war memorial and charged her with failing to comply with police directions.
However, due to different circumstances, the woman faced the charge before the ACT Magistrates Court in the afternoon.
The Canberra Times understands she was released on bail.
"Several other arrests were made at the Australian War Memorial, however those people were later released without charge," the police spokesman said.
He said fewer than five people had been under arrest but when they decided to do "the right thing" police had let them go.
Protesting senator Lidia Thorpe also had an interaction with local police at the Australian War Memorial on October 21, prior to a disruption at Parliament House.
She said she had been wearing a T-shirt that said "Stolen Land, Stolen Lives, Stolen Wealth" and accused the Australian Federal Police of threatening to arrest her for it.
"I was at a rally to call out the crimes committed by the Crown. This is a clear attack on free speech and expression, at the war memorial of all places," the senator said.
The ACT Policing spokesman said officers did not arrest Ms Thorpe.
"This morning, police spoke to a protest group near the Australian War Memorial. The group was directed to move on from the area and they complied with that direction," he said.
"No arrests were made and police consider the matter finalised.
