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
There will be a mixture of sunny spells and showery rain this afternoon, with highs of 16C in the south of England.
CCTV footage has emerged of a violent attack where a blind man was pushed onto the tracks at Chelmsford station
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