Prince Charles has praised Waikato-Tainui for "putting aside the hurts of the past and forging a future" since their Treaty of Waitangi settlement.
Charles and his wife Camilla visited Ngaruawahia's Turangawaewae Marae on Sunday.
It was the second visit to the famous marae, the headquarters of the Maori King Movement, by Charles and the first by Camilla.
The royal couple were adorned in Maori cloaks when they arrived and they walked along a special pathway.
About 60 Maori warriors participated in the powhiri, a welcome ceremony involving dancing, singing and a hongi - the traditional Maori pressing of noses - between Charles and Kiingi Tuheitia.
During the welcoming speeches Charles highlighted how, during his previous trip to the royal residence in 1994, the tribe of the region was due to conclude a land claim settlement with the government.
During the mid 19th century some Maori tribes and the government came into conflict over land with the most prominent clash in the Waikato, where those who fought for their leader were punished.
Charles told the assembled guests: "At the time of that visit, Waikato-Tainui was poised to take a bold step - being the first iwi (tribe) to settle historical grievances under the Treaty of Waitangi.
"Now, as I return here more than 20 years later, I am so heartened to see and hear of all that you have grown from those new beginnings.
"In putting aside the hurts of the past and forging a future on the firm foundations of your culture, traditions and history, I believe Waikato-Tainui and many other iwi across this country have achieved something truly inspirational, not just for New Zealand but for the world."
In his address, Tukoroirangi Morgan, spokesman for Kiingi Tuheitia, said the grievances from the 19th century were "the consequences of war when millions of acres were unjustly taken by the colonial government at the time".
Later, from the banks of the nearby Waikato river, Charles, Camilla and Tuheitia and his wife Atawhai watched as four large canoes or waka, each paddled by around 20 chanting warriors, travelled across the water.
Later in the day, the royal couple visited Auckland where a crowd of fans and curious tourists turned out to welcome them.
The royals greeted the public in Aotea Square before entering the town hall and separating to speak with different charities.
