President Higgins has become the first Irish head of state to address both houses of the British parliament.
The historic speech came on the first day of his state visit to the United Kingdom.
The President used his speech to highlight the good relations between Ireland and Britain, but said the road to permanent peace was not yet complete.
President Higgins said both countries now had a new opportunity to build an even better relationship in the future.
Britain's Queen Elizabeth has formally welcomed the President to the UK.
Michael D Higgins and his wife Sabina were greeted by the British monarch and her husband Prince Philip in Windsor.
