Spain's new King Felipe VI has been proclaimed monarch in a low-key ceremony in Parliament.

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Spain's King Felipe VI is sworn in at the Congress of DeputiesReuters

He ascended to the throne at midnight after his father Juan Carlos formally abdicated.

He received the red sash of Captain-General of the Armed Forces from Juan Carlos at Zarzuela Palace in Madrid.

After a brief military parade, King Felipe VI and his wife Queen Letizia were to drive through Madrid in a Rolls Royce before appearing before crowds at a balcony in the royal palace.

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King Juan Carlos places the Sash of Captain-General on King Felipe VI during a ceremony at La Zarzuela Palace in MadridReuters
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Spain's King Felipe VI, wearing the Sash of Captain-General, kisses his wife Queen Letizia at La Zarzuela Palace in MadridReuters
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Spain's new King Felipe VI, his wife Queen Letizia, and their daughters Princess Sofia and Princess Leonor pose with Prime Minister Mariano Rajoy as they arrive at the Congress of Deputies in Madrid for a low-key swearing-in ceremony that monarchists hope will usher in a new era of popularity for the troubled royal householdReuters
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King Felipe VI, Queen Letizia, Princess Sofia and Princess Leonor enter the Congress of Deputies for his swearing-in ceremonyReuters
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Spain's new king stands to attention in the Congress of DeputiesReuters
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Spain's King Felipe VI stands during the swearing-in ceremony at the Congress of DeputiesAFP
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Princess Sofia, Princess Leonor, King Felipe VI of Spain, Queen Letizia, Prime Minister Mariano Rajoy and General Admiral Fernando García Sanchez watch a parade of Civil Guard at the Congress of DeputiesGetty
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King Felipe VI of Spain kisses his daughter Princess Leonor, Princess of AsturiasAFP
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Spain's King Felipe VI is congratulated by Queen Letizia and Princess Leonor at the Congress of DeputiesGetty
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King Felipe VI of Spain and Queen Letizia of Spain leave the Congress of DeputiesGetty
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King Felipe VI and Queen Letizia leave the Congress of Deputies in an open-topped carReuters
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King Felipe VI and his wife Queen Letizia parade by car through the streets of Madrid from the Congress of Deputies to the Royal PalaceReuters
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King Felipe VI of Spain and Queen Letizia prepare to appear at the balcony of the Royal PalaceGetty
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Spain's new king and queen, accompanied by their daughters and the country's former king and queen, wave to the crowds from the balcony of the Royal Palace in MadridReuters
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Queen Letizia kisses King Felipe VI while Princess Leonor and Princess Sofia wave from the balcony of the Royal Palace in MadridAFP
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Spain's new king waves to his subjectsReuters