Prince William and Kate were delayed to their first outing after they had an impromptu stop at The Kelpies in Falkirk. The duel 30m-tall horsehead sculptures are said to embody the fusion of Scotland's rich mythological heritage alongside the power of Scottish industry and engineering.
For their first engagement, the royal couple went to Stirling's National Curling Academy, where they are due to meet athletes competing in the sport in the upcoming Winter Olympics and Paralympics. Curling is one of Team GB's most successful sports, with teams across the Olympics and Paralympics earning eight medals in the discipline.
Known for their competitive spirit, the pair went head-to-head as they competed in the sport, under the tutelage of Olympic gold medallist Jennifer Dodds and men's world champion skip Bruce Mouat.
WATCH: Princess Kate begs to have another go at curling
Their second engagement of the day saw William and Kate visit the Radical Weavers, a tartan-weaving studio and independent charity based in Stirling.
William and Kate also participated in some tartan weaving themselves, with their works going towards the Radical Weavers' latest project, which is to create the world's longest tartan scarf.
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While the couple are up in Scotland, William's younger brother, Prince Harry, was in court for his trial against the publisher of the Daily Mail. The Duke of Sussex is part of a group, including Elizabeth Hurley, Elton John and Sadie Frost, Associated Newspapers Limited over claims of unlawful information-gathering.
The striking 30‑metre‑tall steel horse‑head sculptures are said to embody the fusion of Scotland’s rich heritage and mythology with the power of Scottish industry and engineering.
The Prince had his best concentration face on for his try, with everyone applauding his efforts.
Laughing, William said: "It's not going very fast," but silver medalist Bruce Mouat reassured him that you usually have sweepers to help a stone reach the house - the target at the end of the ice strip.
The Prince was heard giving his wife tips on her first attempt, which went slightly awry,
William told her: "Just lean on both Catherine," in reference to the red stone and the delivery stick, used for beginners to help steady themselves.
Keen to correct her mistake, she asked if she could have another go, and was delighted to be told by Nigel Holl, executive performance director from British curling, that they would now be going head to head.
When it stopped right in the middle, she high-fived Jennifer Dodds, who was part of the gold medal winning team at the last Winter Olympics, and celebrated with a fist pump in the air.
At their second engagement, the Waleses helped out at Radical Weavers, a charity in city centre charity which aims to tackle social isolation and support people affected by trauma and loss.
They were shown around by Mairi Breslin, founding director of Radical Weavers, to learn about the rich and unique heritage of Scottish tartan weaving.
Kate said: "It's such a fantastic way to bring that sense of self and think about parts of their lives and parts of themselves that they hadn't explored before in a creative way and abstract way but in a less judgemental way."
For their third and final engagement of their trip, the Prince and Princess of Wales visited The Gothenburg pub in Fallin, a former mining village four miles east of Stirling.
It's named after a tradition developed in Sweden where profits are funnelled back into the local community. There were previously 50 "Goth" pubs in Scotland but that number has dwindled to just 4.
William said he "absolutely loves pubs" and wants to "help" them.
Sitting down with a group of local men, the future King heard how the pub maintains strong links to the local community, with part of the ethos being a centre from which other activities, not involving drinking, can be enjoyed.
Hearing about the social benefits the pub brings to the village, William added: "It's crucial. It's the human-to-human contact, isn't it, rather than just being on the phone or watching TV."
On another table, Kate was presented with a crochet bunny for her daughter Princess Charlotte by Adele Hodgson, 70, who took up the hobby a year ago and now sells her creations to raise money for local Strathcarron hospice.
The Princess said of her ten-year-old daughter: "She will absolutely love that. She's got lots of teddies on her bed. Well done, that must have taken a long time. Thank you so much."
The Prince and Princess of Wales accompanied senior working royals such as King Charles and Queen Camilla at a reception to remember the late Queen Elizabeth II