The trio were accompanied by Autumn Phillips and her two daughters, Savannah and Isla Phillips, who, judging by the fun pictures from their balcony appearance on Saturday and the amusing snaps from Sunday, seem to have a great relationship with William and Kate's children.
The mother-of-three accessorised her gorgeous dress with a pair of practical Russell and Bromley wedges.
Mum Kate made sure that her only daughter, Princess Charlotte, was tended to. Both girls looked gorgeous in the summer dresses.
No time for relaxing! Kate, who loves sport, also ran around the field and had fun with all the kids.
The family sat together to cheer on Prince William. Sunday's charity match raised funds and awareness for two charities – the Royal Marsden, which the Duke supports as president, and Centrepoint, of which he is patron.
Prince George was carrying around a picture that he seemed to have done himself - if so it looks like he has inherited his mother's artistic flair.
Duchess Kate's figure has bounced back very swiftly after the birth of her third child, Prince Louis, in late April. She looked pretty and relaxed in her casual summer dress.
Duchess Kate has said previously she likes nothing more than having time to spend with her children outdoors. She seemed to be enjoying every minute of her fun afternoon in the sun.