And the following day they continued their support of children's causes by attending the 10th Anniversary Butterfly Ball in London, making their entrance in stunning style.
The mother-daughter pair sported complementary outfits that seemed to have the event's signature colour, purple, in mind.
After running the London Marathon last month, Beatrice show off her toned figure in a purple cocktail dress with black stilettos. Meanwhile, the Duchess of York coordinated with her daughter, matching a full-length royal blue gown with a purple shawl.
The two royals and a host of other celebrities, including performers Elton John and Peter Andre, helped raise £1.75 million for Caudwell Children, an organisation which aids sick and disabled children.
Guests included the ever glamorous Elizabeth Hurley, who sparkled in a silver gown, and Dame Shirley Bassey, who chose a black ensemble for the gala.
Also supporting the children's charity were blonde beauties Penny Lancaster - the wife of rocker Rod Stewart - and Rachel Hunter, his ex.