Wearing the same green Emilia Wickstead dress coat she wore to the event last year, Kate smiled broadly as she greeted soldiers from the 1st Battalion Irish Guards at Mons Barracks in Aldershot, Hampshire.
However, at one point, Kate's foot became stuck in a drain and she had to spend a few moments freeing her heel.
More top news
Nearly one million people could have their homes repossessed because they do not have a plan to pay off their interest-only mortgages.
Social services officials think that Charlie Clift, five, and Kaiton Warnes, two, are in North Cyprus with their mother Amelia Warnes, 23.
Aylan Kurdi, three, and his brother Galip will be buried with their mother in Kobane, the city they tried so desperately to escape.