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
Ian Bashford was just 200 metres from the finish line when he was struck by the car.
More than 60 pooches came from around the world to see who was top dog on the waves.
Baring your bottom in public could get you two-months behind bars - or six months if you're a repeat offender.