Prince Harry touched down on British soil on Saturday after his emergency withdrawal from Afghanistan.
His father the Prince of Wales was at RAF Brize Norton to greet him with his brother William.
Charles said he was "enormously proud" of Harry and said he now understood what the families and loved ones of soldiers endured when they were serving abroad.
He said: "As you can imagine it's obviously a great relief as far as I'm concerned to see him home in one piece."
Harry, 23, arrived at the Oxfordshire airbase at 11.29am on an RAF Tristar troop transporter.
The flight had earlier touched down in Birmingham so that two soldiers - one very seriously injured and one seriously injured - could be taken to Selly Oak Hospital where British military casualties are treated, the Ministry of Defence said.
Harry, a Blues and Royals "Cornet" or Second Lieutenant in the Household Cavalry, was flown out from Afghanistan on Friday night for his own safety and that of others.
The move came after a media blackout preventing details of his deployment to Helmand Province broke down following reports on foreign websites.
Several dozen soldiers emerged from the Tristar into the sunshine before Harry. The prince walked across the tarmac to the terminal building with a heavy load of kit slung over his shoulder.
Harry was one of about 170 soldiers who arrived back from Afghanistan on Saturday morning. After completing the formalities he had a private reunion with his father and brother.
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