The royals stayed within their family bubbles and socially distanced as they listened to Christmas carols performed by the Salvation Army Band.
They then greeted volunteers and workers and thanked them for their service during the pandemic.
It’s the first occasion that the family members have been in one place for a joint engagement since the Commonwealth Day service at Westminster Abbey in March, which was also attended by Meghan and Harry.
The event comes at the end of the Cambridges’ train tour of the UK, during which they paid tribute to “the incredible work of individuals and organisations that have gone above and beyond in response to the coronavirus pandemic”.
See the photos of the royal reunion below: