The midfielder will retire after the Euros this summer.
Carvajal said: "He is a legend of Real Madrid. Yesterday we already knew a little that he would not continue, but we did not know that the statement was to be given.
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"On Saturday we have to have a great party at home, which he deserves.
Carvajal added: "There will be people who can approach him, but Toni is unique. We are happy for him, because if that is what he wants, then we are with him."