Translation:The queen and the king visit Duo in his palace in France.
This is stupid. Just because the form involves two articles in German, idiomatically in English I can't imagine saying "the queen and the king" so leaving out the second "the" should be ok. If you speak English you will get this wrong, unless you are trying to be utterly pedantic. if you don't speak English you are more likely to get it right, but then you are encouraging bad behaviour