Camilla, 74, visited Roundhill Primary School in Bath in her role as patron of St John's Foundation, a local charity committed to changing lives for good.
The Duchess, who is passionate about encouraging a love of reading and writing from an early age, joined three-year-olds in a Language for Life class in the Sunbeams early years room, and ten-years-olds from the Eco Team for a tree planting for the Queen's Green Canopy.
She was also chatted to youngsters making fruit smoothies, visited a reading group and dropped in on Laurel Class during maths.
WATCH: Duchess Camilla makes first public appearance since the Queen backed her to be Queen Consort
Union Jack flags adorned the fence as Camilla was greeted by crowds of excited schoolchildren at the gates. The Duchess looked elegant in a tartan skirt suit and a cream blouse.
Before leaving, Camilla watched in the main hall a short performance of We Are Proud of Our School, a new song the children learnt for her visit.
To mark the occasion, she planted a silver birch tree for the Queen's Green Canopy and unveiled a plaque commemorating the day.
"Before I go can I say thank you to you all for asking me to come to your lovely school. It's a real treat to come here and it's always a pleasure to come back to Bath, which is my home city," she said.
"I have been so impressed by everything I have seen, and I never have enough time to see all that there is to see. I loved listening to you, I loved seeing your library and watching you do your numeracy – I didn't understand a word of it.
"One day I hope I shall be back again when I’m even older than I am now and to see that tree looking a bit bigger."
Camilla planted a tree for the Queen's Green Canopy
On her next stop of the day in Bath, the Duchess praised the founders and staff of a domestic abuse charity, saying they are a "lifeline" for survivors.
And after speaking to two women supported by the survivor-led organisation Voices, Camilla said: "You should be very proud. I've been speaking to a couple of ladies who wouldn't have survived without you. You are literally their lifeline."
Founded in 2014 by a group of women with lived experience of domestic abuse, Voices offers holistic, early help and recovery work with affected women and their families and provides a platform for those impacted by domestic abuse to influence policy and provision of services.
The charity also trains professionals and services while working to raise awareness of the problem of domestic abuse.
The Duchess praised the work of Voices charity in Bath
The Duchess, who has tirelessly advocated for domestic abuse survivors over the years, was shown the charity's safe support spaces and met the founders, trustees and staff before chatting to some of VOICE's long-term clients in a private room.
Then, in an unscripted speech as she unveiled a plaque to commemorate her visit, she said: "I'd like to thank you all for all you are doing for people who are suffering domestic abuse. As you can imagine I've been around a few centres, a few safe houses and you always get the same feedback from them. Women, and sometimes men I talk to too, they all say you are their lifelines. That they could not exist without all your help, all your therapy and the legal help you give them."
Camilla went on: "This probably wouldn't have happened 20 or 30 years ago but it luckily is happening more and more now.
"More and more women are able to come forward and tell their stories, which [means] we are making a breakthrough.
"It’s going to take a long time but it is no longer a taboo subject. We've got to get out there and get it out to the general public, because a lot of people, including myself at the beginning, do not know enough about it."
She told staff: "All of you do a fantastic job. Onwards and upwards."
Voices operates with support from another charity, St John's, of which the Duchess is patron, as well as the National Lottery.
Camilla visit to Bath comes after the Queen backed her daughter-in-law to become Queen Consort when the Prince of Wales becomes King.
In a statement to mark her Platinum Jubilee on Sunday, Her Majesty said: "And when, in the fullness of time, my son Charles becomes King, I know you will give him and his wife Camilla the same support that you have given me; and it is my sincere wish that, when that time comes, Camilla will be known as Queen Consort as she continues her own loyal service."
The Duchess was greeted by pupils at the school on arrival
Until now, the Duchess of Cornwall was expected to be styled Princess Consort when her husband ascends the throne, a decision announced when the couple married in 2005.
The lesser title reflects a sensitivity towards public opinion, which was negative towards Camilla in the aftermath of the breakdown of the Prince's marriage to Diana, Princess of Wales.
But in the years since then, the Duchess has weathered the storm and worked hard to earn widespread respect and admiration for her charitable work and loyalty to the royal family.
The Duchess joined a number of classes during her visit to the school
Prince Charles also paid tribute to his mother and wife in his own statement, saying: "On this historic day, my wife and I join you all in congratulating Her Majesty The Queen on the remarkable achievement of serving this nation, the Realms and Commonwealth for seventy years.
"The Queen's devotion to the welfare of all her people inspires still greater admiration with each passing year."
The message continued: "We are deeply conscious of the honour represented by my mother's wish. As we have sought together to serve and support Her Majesty and the people of our communities, my darling wife has been my own steadfast support throughout."
Additional reporting by HELLO! Online's Royal Correspondent, Danielle Stacey.
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