The Prince and Princess of Wales, William and Kate, and the Duke and Duchess of Sussex, Harry and Meghan, spent about 45 minutes engaging with crowds of well-wishers and viewing floral tributes in Windsor, before leaving in the same car.
The couples spoke to members of the public, accepted flowers and even gave some hugs during the walkabout.
William could be heard thanking people offering their condolences, reading a letter from a little girl out loud, petting dogs and receiving floral bouquets.
Meghan was pictured giving a teenage girl a hug.
