The Duke and Duchess of Cambridge have visited a former concentration camp as they continue their tour of Poland.

The Royal couple met five Holocaust survivors at Stutthof, near Gdansk, where 65,000 people were killed by the Nazis in World War Two.

Speaking at a garden party to mark the Queen’s birthday, Prince William hailed the country’s “incredible bravery” during the German occupation.

Prince William and his family are on a five-day tour of Poland and Germany. Prince George, three, and Princess Charlotte, two, have accompanied their parents on the trip.

During their visit to Stutthof, William and Catherine met British survivors Manfred Goldberg and Zigi Shipper.

As a teenager, Mr Goldberg spent more than eight months as a slave worker in Stutthof. There he met Mr Shipper, who had previously been at Auschwitz.

Days before the war ended, the camp was abandoned and prisoners were sent on a death march to the German town of Neustadt. The pair – both 15 at the time – were liberated at Neustadt on 3 May 1945. They later moved to the UK, where they remained friends.

Stutthof was the first Nazi camp set up outside German borders, established in September 1939. It was originally used for the imprisonment of the Polish intelligentsia for “undesirable Polish elements”.

By 1942 it had become a concentration camp and grew to include 39 sub-camps which housed 110,000 men, women and children over its five years.

Some 65,000 inmates – which included 28,000 Jews – were killed by disease, malnutrition and execution by lethal injection, gas chamber, shooting and hanging.

Stutthof was the last camp to be liberated – on 9 May 1945 by the Soviet Army.

In Germany later this week, Chancellor Angela Merkel will hold a private meeting with the royal couple in Berlin before they visit the city’s famous landmark, the Brandenburg Gate. The duke and duchess will also visit Berlin’s Holocaust museum and memorial.

A boat race is planned in the German city of Heidelberg, which is twinned with Cambridge. William and Catherine will cox opposing rowing teams in the race with crews from Cambridge and Heidelberg.

The royal couple and their children were greeted at Warsaw Chopin Airport on Monday by the UK’s ambassador to Poland, Jonathan Knott, and his wife, alongside Poland’s ambassador to Britain, Arkady Rzegocki. They were welcomed in Warsaw at a meeting with President Andrzej Duda.