Only Connect, a crime prevention charity that works with prisoners, former criminals and young people at risk of offending, had invited the Royal couple to see their headquarters to learn more about what they do.
At a nearby Only Connect venue, OC Central, the pair were treated to contemporary dance performances by the group Dance United and had the opportunity to meet those connected to the charity, including Aaron Russell-Andrews and his little girl.
Mr Russell-Andrews, 22, from Camden, North London, became involved with Only Connect four years ago after committing a crime a day as a teenager – including robbery, burglary and vehicle theft – and is now a professional actor.
He said: “She was very pleased that Only Connect has helped me make such a big change with my life and keep me on the right path.”
Asked what The Duchess thought of the white babygro, which featured the Only Connect logo and the words Prince George underneath, Mr Russell-Andrews said: "She was very pleased about it.
“She said it’s a very good fit because he’s growing very fast, and that he’ll like it.
“Teegan tried to take back the babygro, she’s very cheeky.
“The Duchess said that they’re very demanding at this age.”
The Duke’s aunt Lady Jane Fellowes, the older sister of the late Diana, Princess of Wales, is a trustee of Only Connect and described them as carrying out “inspiring and life-changing work” in a recent interview.
A Kensington Palace spokeswoman said it was a coincidence that she is involved but that Their Royal Highnesses wanted to see the work of the charity as part of their interest in young people, describing it as a “learning and scoping exercise”.
Lady Jane spent several minutes in animated conversation with The Duke following the dance performance.
Speaking after their visit, Lady Jane said: “I’m really delighted that William and Catherine have had the opportunity to see the work of Only Connect, a charity that I have been supporting for many years.”
Karis Barnard, centre manager at OC Central, spoke to The Duchess about programmes the charity runs to help young people, which also reaches out to them through the arts, including poetry.
She said: “She said she wasn’t so good at poetry but her photography is her passion. If she’s going to do anything artistic, it’s that.”
During the visit, the Royal couple watched workshops being carried out by complementary projects Handmade Alliance, which trains prisoners to produce textiles for British designers, and Bounce Back, which offers training and employment in painting and decorating for offenders at the end of their sentences.
Danny Kruger, Chief Executive of Only Connect, which employs 25 people, told The Duke and Duchess that he was “enormously proud” to welcome them to their headquarters.
Mr Kruger, whose wife Emma founded the charity eight years ago, spoke to them about the importance of charities working together.
After the two-hour visit ended, he said: “It was a great thing to have them giving us a pat on the back and for our members to get congratulated for their work and achievements, and I hope it means we can build our profile and do more work.”