Will, Harry and Kate looked overjoyed to take part in the ceremony, donning their signature London blue and white garb along with beaming smiles.
The famed gold torch is on its 69th (and second to last) day of its 8,000 mile journey around the British Isles.
Earlier in the day, the Olympic torch stopped by 10 Downing Street where it was greeted by Prime Minister David Cameron and his wife, Samantha.
The flame ended the day in Hyde Park where 60,000 people gathered for a celebratory concert.
Kate, Harry and Will have all been busy performing their Olympics' duties. This morning, the royal trio stopped by a London sports center (funded by one of their charity initiatives) to meet with budding athletes.
On Friday, the Olympics will be officially opened by Queen Elizabeth II, which will mark the end of the torch's journey.
Talk about a royally fabulous time! Now, hit the comments below to tell us how excited you are for the 2012 Olympics!