Kate Middleton's sweet gesture for King after sombre moment at Duchess of Kent funeral

The Princess of Wales and her father-in-law, King Charles, shared a sweet moment on the steps of Westminster Cathedral after the Duchess of Kent’s funeral.

The Prince and Princess of Wales were confirmed to attend the funeral service in London today just hours before it began, joining other members of the royal family for the emotional ceremony.

Prince Andrew, Sarah Ferguson, King Charles, Princess Anne and Sophie, Duchess of Edinburgh, were all in attendance, while Queen Camilla was forced to stay home due to suffering from acute sinusitis, after it was announced in a statement from Buckingham Palace.

READ MORE: Prince Harry and Meghan Markle to appear in fresh documentary in surprise new move

READ MORE: Prince Andrew makes shock appearance at Duchess of Kent's funeral as crowds gasp

After the hour-long ceremony to honour the life of the Duchess of Kent, who passed away peacefully at her home on the evening of September 4 aged 92, the royal family piled out onto the steps of the cathedral for the procession of the Duchess’ coffin in a sombre moment.

Once the procession came to an end, the royals mingled amongst each other and bid their farewells. One such moment was captured between Princess Kate and her father-in-law, King Charles.

The pair were seen conversing briefly on the steps of Westminster Cathedral, before they kissed each other's cheeks, while Kate curtsied to the monarch before he departed from the church. Charles then drove away from the London cathedral, with William and Kate following soon after.

The Duchess of Kent’s Catholic funeral - a requiem mass - was the first to be held for a member of the monarchy in modern British history. The heartbroken family of the late Duchess of Kent - including her husband the Duke of Kent - all gathered at the Cathedral to pay their respects and say their final farewells.

The Duchess’s three children - George Windsor, Earl of St Andrews, Lady Helen Taylor and Lord Nicholas Taylor - as well as her ten grandchildren arrived at the cathedral dressed in black to honour the extraordinary life led by Katharine, or Mrs Kent as she preferred to be called.

When the Duchess died earlier this month, William and Kate paid tribute to her in a heartfelt message saying: " Our thoughts today are with The Duke of Kent and his family, particularly George, Helen and Nicholas.

"The Duchess worked tirelessly to help others and supported many causes, including through her love of music. She will be a much missed member of the family. W & C."

Charles and Camilla also honoured the Duchess’s life after her passing with a post on social media that read: “The King and Queen and all Members of The Royal Family join The Duke of Kent, his children and grandchildren in mourning their loss and remembering fondly The Duchess’s life-long devotion to all the organisations with which she was associated, her passion for music and her empathy for young people.”