The King was greeted by Lord Lieutenant of Bedfordshire Susan Lousada and Mayor of Luton Sameera Saleem.
He met representatives from Luton Council as well as guests from a range of community organisations, including Bedfordshire Police and Crime Commissioner Festus Akinbusoye, who was previously supported by the Prince's Trust.
POOL/AFP via Getty Images
Charles signed a visitors' book and unveiled a plaque commemorating his visit in the Town Hall, which was opened by the Duke of Kent in 1936.
He was also give Luton-made honey by council chief executive Robin Porter.
Charles has made several previous visits to the town, including in 1985 when he opened a new terminal at Luton Airport.
King Charles III travels in a DART carriage for the three-minute journey to the Luton DART central terminal
PA
Before leaving for his next engagement, he met children from St Matthew's Primary School.
The King visited the Luton Dart Parkway Station, learning about the new cable-drawn mass passenger transit system, which will connect the rail station to London Luton Airport.
He was shown the control room before boarding the Dart for a three-minute trip, accompanied by staff from the construction and transport system contractors.