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Prince Harry launched a major new fundraising project for his charity Sentebale and said he hoped his mother Diana, Princess of Wales would be "proud" of his efforts.
FHM magazine model Bonang Matheba hosted the evening and joked she wanted to get the prince dancing.
The famous South African presenter wore a skin-tight white dress and said: "I told him he should loosen up and have some fun - I will show him some South African dances."
Prince Harry launched a major new fundraising project for his charity Sentebale, which is co-founded with Lesotho's Prince Seeiso, and said he hoped his mother Diana, Princess of Wales would be "proud" of his efforts.
The royal hopes to raise £2.5 million to build the Mamohato Centre, which will expand the charity's service of providing psychological care and peer mentoring for children and young people with HIV/Aids.
Speaking about the naming of the new centre Harry said: "It seems only right that it should be named after His Majesty (of Lesotho) and Prince Seeiso's mother, Queen Mamohato Bereng Seeiso.
"She was so loved as the mother of the nation. I hope she would be proud of what we are trying to achieve in her name.
"I hope that my mother will be proud, too. Maybe, just maybe, they are together somewhere up there, with blue prints and sketches already mapped out. I can only hope we put the swings in the right place."
It will be built on the sacred land of Thabu-Bosiu in Lesotho, known to many as the birthplace of the nation.
Prince Harry showed off his culinary talents when he cooked cakes with children during a home economics class at a deaf centre in Lesotho.
The third-in-line to the throne was joined by Lesotho's Prince Seeiso, who co-founded the charity Sentebale with Harry in 2006, at the Kananelo Centre for the Deaf, close to the capital Maseru.
On the menu was fat cakes - a kind of doughnut - known in the local Sesotho language as makoenya.
Prince Harry last visited Lesotho in June 2010 when his brother, the Duke of Cambridge, accompanied him as part of their first joint overseas trip.
The pair visited a number of charitable projects, including the Mamohato Network Club for children affected by HIV at King Letsie's Palace in Maseru, Lesotho.
Prince Seeiso, the younger brother of Lesotho's King Letsie III, will accompany Prince Harry on part of his current trip.
Here is Prince Harry's schedule for his visit to Lesotho today:
- First he will join youngsters at the Kananelo Centre for the Deaf to take part in a sign-language lesson before learning how to cook the local delicacy of 'fat cake'
- Next he will travel to St Bernadette's Resource Centre for the Blind where he will watch children learning Braille and join students for a game of five-a-side football.
- Finally, the prince will give a speech at a gala dinner in Johannesburg, South Africa to kick off a fundraising drive for the Sentebale project.
Prince Harry will visit projects supported by his charity Sentebale in the southern African country of Lesotho today.
He will tour two centres that help vulnerable children and young people living in the land-locked kingdom which is one of the most impoverished nations on the continent.
The last time the 28-year-old was in Lesotho was in June 2010 when he took his brother, the Duke of Cambridge, to see Sentebale's work as part of their first joint overseas trip.