The team, made up of mainly British servicemen along with two US Marines – many of them amputees following injuries in Afghanistan - set out with four Land Rover-based Wildcat vehicles on January 5th but only one vehicle, and crossed the finishing line late on Saturday evening.
The Duke and Duchess, who have followed the team’s progress since Day One said in their message: “Catherine and I have heard the wonderful news about your success today - many, many congratulations.
“We know it was not easy, but you have today become true record holders as the first ever disability team to complete what is one of the world's toughest challenges.
“What you have achieved was a triumph of perseverance and teamwork, and you have shown the world what true valour looks like. We hope you get some rest now, and, please, no driving like that on our roads when you're back!"
The three injured team members of Race2Recovery, John Winskill, Justin Birchall and Lee Townsend, would like to extend their heartfelt sympathies to the family and friends of the two people who lost their lives in the tragic incident that took place near Tacna in Peru on 9th January.
They would also like to wish a full and speedy recovery to those others who were hurt alongside themselves.
The injured Race2Recovery members are very sad to be leaving the Dakar rally under such unfortunate circumstances and wish their fellow team members the very best in their continuing endeavours.
The Race2Recovery team, who are hoping to become the first disability team to complete the Dakar Rally, said that they have almost completed the first stage of the race.
On the team's Facebook page, a message said: "Welcome to all our new followers. Our 4 Wildcats, each with an injured soldier as co-driver or driver, has completed stage one at Pisco, Peru on the Dakar Rally. We just await the arrival of our truck no. 575.".
The team of injured soldiers taking part in the world's toughest rally have begun their challenge.
The team tweeted an image from the starting line of the Dakar Rally, in Lima, Peru, adding: "The Race2Recovery truck just went through the Dakar 2013 start. All our vehicles are out there; let battle commence."
The group aims to be the first disability team to complete the rally, which ends in Santiago, Chile.