Moving from table to table, Sophie spoke with the war heroes inside a tea tent, listening intently to their stories.
The Duke of Edinburgh, who wore more than half a dozen medals on his suit jacket, also spent time chatting with some of the 26 veterans present - later appearing to wipe away a tear.
Meeting veteran John Davies, who had attended the service with his granddaughter grandson, and greatSophie remarked: "You're not!" when he told her he was 101.
As she chatted to Mr Davies, who had travelled from Liverpool to the site in Staffordshire for the occasion, she told him it was "lovely to have you here today".
The Duchess also tenderly covered another chilly veteran with a blanket as they sat next to each other at a table.
Asking one Derbyshire veteran where he had travelled from, the Duke joked that Staffordshire was "much easier to get to than France". Edward and Sophie then headed outside to join veterans and their families at the Royal British Legion's Service of Remembrance.
The event honoured veterans for their service during the D-Day landings 80 years ago.
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