Queen Elizabeth II arrived in Madrid Monday under sunny skies for a historic five-day state visit to Spain, the first ever by a reigning British monarch. The visit is viewed as ushering in a new era of friendship between the two countries, whose relations have been clouded for centuries by their dispute over sovereignty of Gibraltar. Queen Elizabeth, wearing a royal blue suit and matching hat, smiled broadly as she walked from the plane and exchanged kisses with Prince Felipe, heir to the Spanish throne. From Barajas International Airport, Elizabeth and her husband, Prince Philip, drove to El Pardo Palace, where they were greeted by King Juan Carlos and Queen Sofia for the official welcoming ceremony.