The royal couple sat in the front row while one of the charity's dance squads, Dance United, put on a contemporary, hip-shaking performance.
And while no full-blown twerking went on in front of the Duke and Duchess, it's safe to say that the dance moves were twerk-adjacent. (Miley Cyrus, we're sure, would definitely approve.)
Prince George's parents tried their best to keep a straight face, but began smiling as one dancer showed off his more, ahem, shall we say sensual moves.
Kate and Will made sure to meet and greet members of the crime prevention charity Only Connect, which is aimed at providing a positive community for former prisoners, ex-offenders and assists those who are at risk to rebuild their lives.
The 31-year-old new mother recycled her patterned Orla Kiely coat dress, which she paired with brown tights, her Aquatalia ankle boots and an Emmy clutch.
She wore this same stylish outfit in February 2012 when she visited a school in a disadvantaged area of Oxford in support of the Art Room, an organization that teaches kids self-esteem and confidence through art.
The two also dropped in to learn about two complimentary projects: Bounce Back and Handmade Alliance, both of which work with specific groups of those who could benefit from the organization's guidance.
Kate's calendar is pretty booked up until the holiday season.
On Wednesday, Nov. 20, she's making a solo appearance at a forum for Place2Be, a charity providing school-based mental health and emotional support services.