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The Duke and Duchess of Cambridge arrived in Glasgow to tour one of the venues for events at the 2014 Commonwealth Games.
The couple visited the Emirates Arena, including the Sir Chris Hoy Velodrome, watching riders in a practice session.
The engagement is part of a two-day tour of Scotland.
William and Kate are travelling to Scotland for a two-day tour which will see them visit a range of projects today from Glasgow's Sir Chris Hoy Velodrome where cyclists will be training, to launching a new Scottish project for their foundation.
The initiative is a pilot scheme which aims to inspire and train the next generation of young sports coaches.
The 18th century mansion was bought, along with its contents and adjoining land, by a consortium led by the Prince of Wales in June 2007.
Charles, known as the Duke of Rothesay in Scotland, will join his son and daughter-in-law as the Manoukian Foundation, a new outdoor centre for uniformed youth services and schools, is opened in the grounds.
The couple are known as the Earl and Countess of Strathearn when in Scotland - a title bestowed by the Queen to mark the Duke's marriage - and tomorrow they will travel to Dumfries House in Ayrshire.
The visit will be marked by a fly-past of three Typhoons from 6 Squadron, RAF Leuchars - a base close to St Andrews University in Scotland where William and Kate first met as students.
The royal couple will then travel to Barrow-in-Furness, Cumbria to learn about the new Astute Class of nuclear powered submarines being built for the Royal Navy by BAE Systems.
The Duke of Cambridge will make a Skype web call to two homeless Scottish people working in Holland today when he makes an official visit to Glasgow with the Duchess.
William will chat to Dylan Howie, 18, and Lyn Buchan, 21, who are taking part in an innovative exchange programme, as he tours Stopover, a project for rough sleepers run by the charity Quarriers.
The pair from Glasgow are on a work experience placement in the Dutch town of Papendrecht as part of the charity's Way to Work initiative run with Dutch partner Werkcenter.
Mr Howie, who first stayed at the Stopover project in September 2011 when aged just 16 before returning last December, said: "It's just amazing that I will get a chance to speak to the Duke of Cambridge. It's brilliant - I'm very excited.
"The past year has been really tough for me - but since coming to Quarriers' Stopover my life has been turned around. Everyone at Stopover is brilliant and now I'm on the Quarriers Way to Work programme I can see a brighter future."
Latest ITV News reports
The Duchess of Cambridge came face-to-face with a doll version of herself on a visit to Scotland, but seemed unimpressed by its haircut.