Upon their arrival William and Kate were greeted by dignitaries and headed to Cambridge town hall to enjoy a brief lunch with members of the local community before their visit to the town's war memorial.
The Duke and Duchess each laid a flower at the memorial before speaking to war veterans.
William and Kate then took a stroll around the town, taking time to meet with some vast number of royal fans who turned out at the event.
Crowds of local residents had been gathering since the early hours of the morning for the town's first ever royal visit and in honour of the occasion a window display competition themed on the royals had been organised among shop owners.
Thousands of people lined the streets, including two women dressed as monarch butterflies to match the sign they carried which read 'Welcome to the monarchy'.
Following their visit to the war memorial, William and Kate headed to the Avantidrom in the neighbouring city of Hamilton where they started several races, watched a BMX display and met with Olympic athletes.
Prince George, meanwhile, was safely at the couple's base in Wellington where they plan to return to on Saturday evening before heading to Dunedin on the country's South Island for their engagements on Sunday.