Attending the St. Patrick's Day parade are the Prince and Princess of Wales.

Kate, who typically wears green, takes the salute for the first time.

During the incident in 2013, Kate's shoe heel became entangled in a drain cover.

Prince William assisted Kate in keeping her balance so she wouldn't lose her shoe.

Kate just took part in training for military first aid.

For the first time, she applied a tourniquet to a soldier's calf.

Kate inquired about the first aid techniques used by Army medics.

She said she was looking forward to getting some real-world training.

Kate's public appearances showcase her passion for the military and the medical field.