William and Kate made the unannounced appearance ahead of last night's star-studded coronation concert at Windsor Castle and were seen shaking hands and chatting to revellers.
Scores of people crowded around the couple, with William crouching down to chat to a boy and girl wearing golden crowns.
The prince and princess looked relaxed, with William telling one group of well-wishers: "Enjoy the concert tonight"
Heir to the throne William was due to take to the stage to deliver a speech during the musical extravaganza in the grounds of Windsor Castle.
The King, Queen and Royal Family were to join around 20,000 members of the public at the musical extravaganza to see performances by Take That, Katy Perry and Lionel Richie.
At one point, Kate comforted a little girl who appeared overcome with emotion to meet her. She gave the teary youngster a long hug and the girl burst into tears.
The princess, who had crouched down to speak to her, continued chatting to the girl, who nodded her head and gave a small shrug as Kate patted her back.
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