Prince William and wife Kate stepped out in south London for an event to benefit homeless children.
They even took part in a cooking class during their visit to Centrepoint, a charity strongly supported by Princess Diana.
As children, William and Prince Harry made frequent visits with their mother.
Around Christmastime in 2009, William famously spent the night on the streets of London to deepen his understanding of homelessness.
Princess Diana was a long-standing and active supporter of the charity and became its patron in 1992.
ABC News contributed to this report.