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Cameron made a special trip to Poland from Turkey to visit the death camp, setting down a memorial candle and signing the visitors book, the Guardian reported.
"I wanted to come here to see for myself the place where over 1 million people, the vast majority from Europe's Jewish communities, lost their lives at the hands of the murderous Nazi regime," Cameron said in a statement after the visit. "As I walked round the gas chamber, past the children's shoes and down the railway tracks, I was filled with an overwhelming sense of grief for all those who were killed simply because of their faith, their beliefs or their ethnicity."
He said the United Kingdom "must fight against prejudice, persecution, anti-Semitism and tyranny wherever we find it and stand up for inclusiveness, tolerance and peace," the Jewish Chronicle reported.
In the visitors book, Cameron quoted Holocaust survivor and Nobel Peace Prize laureate Elie Wiesel.
"I wanted to come and see for myself this place where the darkest chapter of human history happened," he wrote. "As Elie Wiesel said, failing to remember those who were murdered would be akin to killing them all over again."
Cameron also discussed the Holocaust Commission he set up last year, saying he hopes it will "teach future generations what took place – and that we must never forget all those who were murdered here and at other camps and at other places."