Kate is attending both the event on Saturday and the Remembrance Sunday service at the Cenotaph.
These will be her first consecutive events since her cancer diagnosis earlier this year.
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Prime Minister Sir Keir Starmer was also in attendance, along with other senior politicians.
On Sunday, members of the Royal Family and senior politicians will lay wreaths during the national service that marks the Armistice of the First World War and all other conflicts involving British and Commonwealth forces.
The Royal British Legion’s veteran parade will see 10,000 veterans march past the Cenotaph in Whitehall, London.
The Queen, 77, will miss both events as she recovers from an illness, Buckingham Palace said this week.
“While this is a source of great disappointment to The Queen, she will mark the occasion privately at home and hopes to return to public duties early next week,” it said in a statement.
The King, 75, is still undergoing cancer treatment but has resumed public duties and Kate, 42, has finished preventative chemotherapy following her own diagnosis.
It is understood there is no cause for concern for the Queen nor any downturn in her condition.
Her husband and daughter-in-law have appeared to be limiting their contact with others to protect their health.