Despite the mishap, the Duke and Duchess were both in good spirits and they took the minor incident in their stride.
Prince William was appointed as Colonel of the Irish Guards back in 2011, a few months before he married Kate Middleton.
The pair have always looked delighted to pay a visit to the regiment on previous St Patrick’s Day parades.
Kate and William’s visit to the St Patrick’s Day event today will be their first in-person visit for two years.
