The Prince and Princess of Wales were greeted with a huge cheer from the crowds as they joined the King and Queen on day four of Royal Ascot.
William and Kate rode in the royal procession as they arrived at the racecourse, sharing a carriage with William's cousin, Princess Beatrice and her husband, Edoardo Mapelli Mozzi.
Princess Kate looked beautiful in a red Alexander McQueen dress with a matching Philip Treacy hat. She wore her brunette locks in a side bun and accessorised with statement earrings from French brand, Sezane.
See William and Kate's entrance at Royal Ascot in the clip below...
During their outing, the couple presented the trophy to the winner of the Coronation Cup stakes.
They also made sure to congratulate jockey Oisin Murphy, following his victory with the winning horse, Shaquille.
Their outing comes just days after William celebrated his 41st birthday, with King Charles leading the birthday tributes to his eldest son and heir.
King Charles and Queen Camilla led the procession and were joined by the Duke and Duchess of Devonshire in their carriage.
Also joining the procession were the Duchess of Edinburgh, the Earl of Caledon and Prince and Princess Michael of Kent in the third carriage, and Dame Judi Dench, David Mills, and William and Sarah Farish in the fourth carriage.
Sophie opted for a pale pink Suzannah London dress with a disc-shaped hat by Jane Taylor.
Duchess Sophie and Princess Kate shared a few laughs throughout the day as they chatted while watching the races.
Royal watchers had been eagerly anticipating an appearance from the Prince and Princess of Wales all week after the pair missed the opening day on Tuesday.
Meanwhile, Princess Beatrice looked lovely in a floral and lace Monique Lhuillier dress, accessorising with a cream hat and a matching clutch.
Among the first to arrive at the racecourse was Princess Alexandra's granddaughter, Flora Vesterberg, and her husband, Timothy. The art historian and creator, 28, looked lovely in chiffon and lace ensemble.
HELLO! takes a look at other Royal Ascot highlights from this week....
The King and Queen's first Royal Ascot winner
Charles appeared to shed tears when he saw his first Royal Ascot winner triumph on Thursday.
The King and Queen looked emotional as they watched their horse, a thoroughbred called Desert Hero, race to victory in the King George V stakes.
The King's niece, Zara Tindall, who joined him in the royal box, said of her uncle's win: "It's bittersweet, isn't it? I think how proud and excited our grandmother, the Queen, would have been. But to have a winner for Charles and Camilla, and keep that dream alive, was incredible, what a race!"
A cheeky kiss for Queen Camilla
As the King and Queen presented racing champion Frankie Dettori with his trophy for his ninth Gold Cup win, the jockey planted a kiss on Camilla's cheek, much to her delighted expression!
Best Royal Ascot style
HELLO!'s fashion team has been sharing all of the best looks from the glamorous racecourse this week, with Zara wowing in three elegant outfits so far this week.
The ever-thrifty Princess Anne, 72, sported a dress she first wore when she was 27. Big points for sustainability.
And Queen Camilla has paid tribute to the late Queen Elizabeth II with her choice of accessories for her appearances.