The King and Pope have prayed together in the Vatican’s Sistine Chapel, in the first joint worship including an English monarch and a Catholic pontiff in nearly 500 years.

As they met on Thursday (local time) inside the Vatican and fallout from the Prince Andrew scandal continued back home, the King commented that the cameras were a “constant hazard”, BBC reported.

Pope Leo replied: “You get used to it.”

The King and Pope walk together after a service at the Sistine Chapel. Photo: AAP

Latin chants and English prayers echoed through the chapel, where Leo was elected the first US Pope by the world’s Catholic cardinals six months ago in front of frescoes by Michelangelo depicting Christ delivering the Last Judgment.

The King, supreme governor of the Church of England, was seated at the Pope’s left near the altar of the chapel as Leo and Anglican Archbishop Stephen Cottrell led a service that featured the Sistine Chapel Choir and two royal choirs.

Although the King has met the last three popes, their previous encounters never included joint prayers.

The King and Queen are on a state visit to the Vatican marking the closening ties between the Catholic Church and Anglican Communion, five centuries after their turbulent separation.

“There is a strong sense that this moment in the extraordinary setting of the Sistine Chapel offers a kind of healing of history,” Reverend James Hawkey, canon theologian of Westminster Abbey, told Reuters.

“This would have been impossible just a generation ago,” he said. “It represents how far our churches have come over the last 60 years of dialogue.”

The King and Queen leave the Apostolic Palace after meeting Pope Leo. Photo: AAP

Cottrell, the Anglican Archbishop of York, stood in at the Sistine Chapel service for Sarah Mullally. She was recently announced as the first woman to serve as Archbishop of Canterbury, the spiritual head of the Anglican Communion, but will not take on the role until next year.

The split between the Catholic Church and the Church of England was formalised in 1534, after Pope Clement VII refused to annul Henry VIII’s marriage to Catherine of Aragon.

The King and Queen, who also visited the Vatican earlier this year to see Pope Francis, had a private meeting with Leo earlier on Thursday.

Photo: AAP

The King was to travel in the afternoon to Rome’s Basilica of St Paul Outside the Walls, one of Catholicism’s four most venerated churches, where Leo approved giving him a new title of Royal Confrater, or brother, at the connected abbey.

He was also gifted a special seat in the apse of the basilica. The wooden chair, reserved in the future for use only by British monarchs, is decorated with the King’s coat of arms and the ecumenical motto “Ut unum sint” (That they may be one).

Bishop Anthony Ball, the official Anglican representative to the Vatican, said the honours “show the commitment that both of our churches have to working for a shared future.”

The King waters an orange tree, planted to mark the royal visit, at the Pontifical Beda College, a catholic seminary in Rome. Photo: AAP

Buckingham Palace announced that the King had also approved two British honours for Leo: Making him the Papal Confrater of St George’s Chapel at Windsor Castle, and conferring on him the Knight Grand Cross of the Order of the Bath.

–with AAP