Princess Kate and Prince William step out together as they join King Charles and Queen Camilla at Balmoral

Last month, the Waleses were photographed attending church at Crathie Church on the Balmoral Estate.

Kate beamed in the front passenger seat next to the Prince of Wales, who also grinned behind the wheel of their Range Rover Defender.

At the time, Kate donned a light brown outfit paired with a pheasant feather hat while William opted for a sophisticated navy suit.

The couple appeared relaxed as they joined fellow members of the Royal Family for the service.

King Charles and Queen Camilla were also snapped smiling together in their car at the time.

The monarch sported his traditional Scottish kilt, as Camilla wore a red and green tartan outfit.

Prince Edward was photographed driving Princess Anne's husband, Timothy Lawrence, James, Earl of Wessex and Sophie, Duchess of Edinburgh to the venue.

Kate's appearance at Balmoral this morning comes just two weeks after she confirmed she had finished her course of preventative chemotherapy.

In an emotional video, the 42-year-old said: “Although I have finished chemotherapy, my path to healing and full recovery is long.”

She added: “To all those who are continuing their own cancer journey – I remain with you, side by side, hand in hand."

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Her video message was narrated over images showing her, the Prince of Wales and their children walking through Norfolk woods with the couple shown cuddling and holding hands.

In the statement, the princess said she has "finally" finished her chemotherapy treatment after an "incredibly tough" nine months.

The cancer was discovered following abdominal surgery in January.

“Doing what I can to stay cancer free is now my focus," she said.