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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. The Duke and Duchess of Cambridge during a visit to the Scottish Ambulance Service response centre in Newbridge, Edinburgh, on the second day of a three-day tour across the country.
William and Kate embark on a three day royal train tour of the UK thanking key workers across the nation for their efforts during the coronavirus pandemic. Photo: Wattie Cheung
1. Welcomed by the pipes
The Duke and Duchess of Cambridge are met by Deputy Lord Lieutenant Sandra Cumming (second left) and piper Louise Marshall (left) as they arrive by train at Edinburgh Waverley Station on the second day of a three-day tour across the country. Photo: Andy Barr
2. Lou Marshall
Edinburgh piper Lou Marshall played Christmas tunes and a couple of traditional Scottish songs to welcome the royal couple. Photo: Andy Barr
3. William and Kate on royal train tour
The royal pair pictured during a visit to the Scottish Ambulance Service response centre in Newbridge, Edinburgh, on the second day of a three-day tour across the country. Photo: Wattie Cheung
4. Meeting SAS
Meeting members of SAS was the first engagement of their UK-wide morale-boosting festive trip on the royal train where they will be thanking frontline workers for their efforts during the pandemic. Photo: Wattie Cheung