"This painting shows General Monk on his knees greeting the King on his arrival at Dover on 25 May 1660. The King's brothers, the Dukes of Gloucester and York, who accompanied him, stand behind him, and in the crowd behind them are the Earl of Clarendon and Sir John Grenville, who had served as chief intermediary between Monk and Charles II. In the background is Dover Castle."--von Erffa and Staley, loc. cit.
Although the Duke of York was seven years older than the Duke of Gloucester, it is not clear from the picture which was meant to be which. The prince on the right wears the Garter star, but both of them were knights of the Garter. Edward Hyde, 1st Earl of Clarendon, stands on the right of them, resting his right hand on his hip. The man to the right of him is partially obscured but is said to be Sir John Granville (Grenville), 1st Earl of Bath, of whom no engraved portrait appears to have existed as a possible model for West's portrait