Prince William comforts Henry Worsley's widow at funeral service

Chloe Best

The Duke of Cambridge paid his last respects to explorer Henry Worsley at a private funeral service in London on Thursday. William was seen comforting Henry's widow Joanna with a hug as he joined mourners outside St Paul's church in Knightsbridge.

Dressed smartly in a navy suit and white shirt, William also offered his condolences to Henry's two children, Max, 21, and Alicia, 19, ahead of the service.

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Prince William attended Henry Worsley's funeral service on Thursday

The Prince was patron of Henry Worsley's Shackleton Solo Expedition, and paid tribute to the former Army Officer after he died of bacterial peritonitis in January. Henry had been attempting to cross the continent unaided in a fundraising effort for the Endeavour Fund – the charity established by Princes William and Harry and the Duchess of Cambridge to support wounded veterans.

In a statement released following Henry's death, Prince William said that he and his brother were "very sad" to hear about his loss and pledged to support his family in their time of grief.

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William said he had "lost a friend" after Henry passed away in January

"He was a man who showed great courage and determination and we are incredibly proud to be associated with him," William said. "Even after retiring from the Army, Henry continued to show selfless commitment to his fellow servicemen and women, by undertaking this extraordinary Shackleton solo expedition on their behalf."

He continued: "We have lost a friend, but he will remain a source of inspiration to us all, especially those who will benefit from his support to the Endeavour Fund."

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Princes William and Harry have pledged to support Henry's family

By the time he died, donations to Endeavour Fund in support of Henry's expedition totalled £106,773. The figure has since risen to over £317,000, and his family have said they have taken "great comfort" in knowing the huge impact he had on so many people.