Kylie Minogue performs for Prince Charles and Camilla

Prince Charles and his wife Camilla the Duchess of Cornwall were entertained by Australian singer Kylie Minogue on Wednesday night as she performed a surprise concert for the pair at St James Palace in London.

The royal couple attended an engagement where they met prominent antipodeans living in London ahead of their two week tour to Papua New Guinea, Australia, and New Zealand which begins on November 3 to to mark the the Queen's Diamond Jubilee.

Australian comedian, Barry Humphries, best-known for his character Dame Edna Everage, was also among the 200 guests at the event.

The comedian had some advice for his fellow Australians if their prime minister, Julia Gillard, fails to curtsy as she did when Queen Elizabeth II visited in 2011.

"I think someone needs to hit her behind the knees with a very hard stick," said Humphries.

Minogue said she was "honored" to perform for the royal couple.

Prince Charles even showed off a few dance moves as Minogue performed her famous hit song from the 1980's "Locomotion" to send off the royal couple on their trip down under.

"It has been such a brilliant year to be in my home, the UK, and so to send the royals off on this trip, it felt fitting to be apart of the farewell for them," Minogue said.

Earlier a New Zealand Maori group performed a traditional haka to kick off the event.