The royals have a busy itinerary ahead of them, with stops in Jamaica and the Bahamas also planned as part of an eight-day visit to the region in order to mark the Queen's Platinum Jubilee.
The Cambridges landed at 3pm local time to begin the eight-day tour. Both looked relaxed after the 11-hour flight, with Kate radiant in a royal blue outfit and her husband as dapper as ever in a smart grey suit.
On Sunday, the couple's first stop was at the Che'il chocolate farm in Hopkins, Belize.
WATCH: Kate Middleton and Prince William delight with dancing during tour of Belize
The Cambridges met local farmer Julio Saqui during their trip and learned all about chocolate production.
The royals discussed the details of farming in the local region.
William and Kate sampled the local produce during their visit to the farm.
Kate looked stunning in a long, blue floral Tory Burch dress which she accessorised with an Anya Hindmarch fan-shaped handbag, bold blue hoop earrings and nude wedge heeled sandals.
The Duchess tried her hand at grinding nibs, broken-up cocoa beans, hard work that's usually performed by the women in rural communities.
The Duke then also had his turn at chocolate-making, much to his wife's delight!
"The smell of the chocolate is amazing," she said.
William even joked, "Do you take apprentices? Can I come and work for you? It's my kind of thing."
The couple’s eyes lit up when they saw the chocolate fountains ready for their arrival.
They enjoyed dipping tortilla chips into the liquid chocolate and later tried hot chocolate, too.
Mum-of-three Kate sweetly commented: "I think our children will be very jealous."
Duchess Kate looked completely radiant on Sunday.
Locals welcomed the royal pair to Hopkins, a small coastal community which is considered the cultural centre of Belize's Garifuna community.
Prince William was delighted to meet members of the local community.
Kate and William joined members of the local community in making music.
Kate enjoyed a conversation with women from Belize's Garifuna community.
Kate danced during a traditional Garifuna festival - and appeared to be having the time of her life!
The Duchess is always happy to join in with fun events during royal tours.
Kate got hands-on during the couple's trip to Hopkins and helped to plant a tree.