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.
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A pregnant woman and a man suffered "severe discomfort" after someone threw bleach at them from a passing car, hitting them in the eyes.
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Former child star Erin Moran who played Joanie Cunningham in the US sitcom "Happy Days" has been found dead at 56.