The Duke and Duchess of Cambridge wore 3D glasses as they watched the latest film by naturalist and broadcaster Sir David Attenborough.
Photographs of the Queen starring in four royal pantomimes as a teenager are expected to fetch thousands of pounds at auction.
Prince William performed an impromptu rendition of Living On A Prayer with Jon Bon Jovi and pop star Taylor Swift.
Audiences including the Duke of Cambridge will be treated to spectacular stunt displays this weekend at the annual British Military Tournament at London's Earl's Court.
Final rehearsals have been performed for the event, which raises money for three military charities, and this year celebrates heroes from British military history.
Prince Charles said he has "nothing but the happiest and fondest memories" of Nelson Mandela and that the world "will be a poorer place without him".
The Prince of Wales smiled as he recalled meeting Mandela in South Africa with the Spice Girls, which he said was "very enjoyable".
"We owe him an enormous debt of gratitude for what he's managed to achieve in his life", he added.
The Queen has spoken about the moment she heard Nelson Mandela had died.
Speaking during a visit to Westminster Hall at the Houses of Parliament, the Queen said: "It was extraordinary as William and Catherine were at the film last night - the film about his life".
"I heard it at 10 o'clock ... [people at the film premiere] were clapping like mad and somebody came on and said 'we've just heard he's died'", she continued.
"It's amazing isn't it? During the first night of the film".
The Duke of Cambridge has said his "thoughts and prayers" are with the family of Nelson Mandela following the news that the former South African president has died at the age of 95.
Prince William was speaking at the London premiere of film about the life of Nelson Mandela.
The Duke of Cambridge has paid tribute to Nelson Mandela.
"It is extremely sad and tragic news. We are reminded of what an extraordinary and inspiring man Nelson Mandela was," Prince William said.
British stars Idris Elba and Naomie Harris have hailed the legacy of Nelson Mandela at the premiere of a film about the former South African president's life.
Both Elba and Harris star in Justin Chadwick's big-screen adaptation of Mandela's autobiography of the same name.
"I think he means freedom and forgiveness. I think Mandela's legacy for me is forgiveness," Elba said.
Harris added: "He is an incredible individual who, despite having 27 years of his life taken away, still has compassion, understanding and forgiveness when he came out of prison. That's just extraordinary.
"It is healing for South Africa and the world as well."
The film follows the leader's life from his childhood, his 27 years imprisoned on Robben Island through to his inauguration as the first democratically elected President of South Africa in 1994.
The Duke and Duchess of Cambridge have attended the London premiere of the new film about the life of former South African president Nelson Mandela.
The Royal couple reached the red carpet just over an hour after the stars of the film, including Idris Elba and Naomie Harris, arrived.
Once inside, William and Kate met Cinema and Television Benelovent Fund trustees, beneficiaries, Mr Mandela's daughter and members of the film's cast and crew.
Mandela: Long Walk To Freedom is due to be released on January 3 in the UK.
Nelson Mandela's daughter has revealed her father is "fine" but "frail" at a premiere of a film about the former South African president's life.
"My father is fine. He's 95 years old and he is pretty frail. We are hoping to see more of him," she said of the former South African leader, who is in ill health," Zindzi Mandela said.
Mandela is receiving medical treatment at his home in Johannesburg after he was previously admitted to hospital in June for a recurring lung infection.
Zindzi Mandela joined the Duke and Duchess of Cambridge and the film's stars Idris Elba and Naomie Harris on the red carpet at Leicester Square for the UK premiere.
British actor Idris Elba has arrived at the London premiere of Mandela: Long Walk to Freedom.
The 41-year-old stars as Nelson Mandela in the story of the former South African president's upbringing and subsequent 27-year imprisonment.
The film, which also stars British actress Naomie Harris as Mandela's ex-wife Winnie, is due to be released on January 3 2014 in the UK.