The royal couple arrived by train at Edinburgh Waverley and were welcomed by piper Lou Marshall who was playing Christmas songs.
William and Kate then set off to meet members of the Scottish Ambulance Service which was the first engagement of their morale-boosting festive trip on the royal train.
Here are some pictures of their visit in Edinburgh.
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5. Hearing emotional stories
The pair heard moving accounts from paramedics at the response centre about how they have been personally affected by Covid-19 tragedies. William and Kate spoke to paramedic Alistair Matson about how he had to cope with his father falling ill and later dying in hospital during the pandemic. Mr Matson, 54, said: "It was very emotional talking to the prince about losing my father. It was really heartening to see the royal couple here today acknowledging what we do and their thanks means a lot to us." Photo: Wattie Cheung
6. Sharing experiences during Covid
His colleague, John Kane, told the royal couple that he spent three weeks in an induced coma in Edinburgh's Western General Hospital after contracting the virus. The 59-year-old said: "It was a terrifying time and the recovery has been slow, but again the SAS has helped that." Photo: Wattie Cheung
7. Bouquet of flowers for family of veteran paramedic
It also emerged during the visit that William and Kate had sent a special bouquet of flowers to the family of a veteran paramedic, who died last month after he re-enlisted in April four years after his retirement. Rod Moore, from Falkirk, died aged 63 after contracting coronavirus. His funeral was due to take place during the royal visit. Photo: Wattie Cheung
8. 'Lovely gesture'
A spokesman for the ambulance service said: "I know that Rod's family greatly appreciated the flowers sent on behalf of the royal family. It was a lovely gesture." Photo: Wattie Cheung