The couple were greeted by well-wishers as they arrived at the stadium to kick off their unannounced two-day tour of Northern Ireland.
There are two new royal barbacks at the Empire Music Hall in Belfast, Northern Ireland!
He added: "Mary Peters is not only one of the United Kingdom's sporting legends, she's also inspired generation after generation to come together in times of trouble and work for the common good - a lesson I hope many of us can learn from".
The last engagement today for William and Kate will take place back in Belfast where they will attend a party at the Empire Music Hall in celebration of many young people from across Northern Ireland.
In keeping with royal visits to Northern Ireland, details were not released in advance and the itinerary was not disclosed beforehand for security reasons.
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They will travel to the Roscor Youth Village charity in Co Fermanagh, which is a residential activity centre for children referred by social workers.
The royal couple were earlier given an official welcome to the venue by Lord Lieutenant of Belfast Fionnuala Jay-O'Boyle.
Kate wore a shimmering dress by Missoni, featuring a midi-length pleated skirt and sheer sleeves - and the light green color pays homage to their host country.
The duchess missed her first shot, but with some tips from the children hit the target on her second attempt.
They also played football with some of the young people they met at the stadium.