The pair danced as part of the British Dance Council's (BDC) 90th Anniversary celebrations at London’s Victory Services Club, which the Duchess supports as patron-in-chief.
After the impromptu performance, she told invited guests, who included amateur and professional dancers: “I love dancing, I wish I was as good as all of you.
“I have a granddaughter who is passionate about it, maybe we’ll see her one day dancing about on Strictly – who knows?
“I have had the pleasure of dancing with Craig and now with Len, so I feel honoured.”
The Duchess had previously appeared in Strictly’s 2017 Christmas special, dancing with judge Craig Revel Horwood at Buckingham Palace.
Mr Goodman,75, who quit his role as a Strictly judge in 2016, said later: “What an honour - over the years I’ve danced with hundreds of girls and that is the most memorable one, she’s so nice and was charming and lovely.”
Bryan Allen, the BDC’s president and chairman, said the event also highlighted the “physical, mental and social" benefits of dancing.
Camilla added: “I just wanted to say as president of the Royal Osteoporosis Society how important dancing is for our bones.
“I think if we could get a lot more people on to the dance floor and get them taking this very enjoyable form or exercise, we would be able to do a lot of good for osteoporosis because that sort of exercise improves your bones.”