She had a meeting with young women who have been helped by the trust, before handing out presents to children whose parents attend the Magic Mums group. Many of these were affected by the Grenfell Tower fire which killed 71.
One photo of the meeting, above all others, has captured the imagination of the internet.
While speaking to Yahya, 7, and Dawud, 10, both of whom were affected by the tower fire, the below photograph was taken.
We don't need to tell you Yahya absolutely upstaged Kate:
Picture: Simon Dawson - WPA Pool/Getty Images
As she kneeled down for a chat, he could help but pose for the cameras.
The royal guidelines for greeting the family read as follows:
There are no obligatory codes of behaviour when meeting The Queen or a member of the Royal Family, but many people wish to observe the traditional forms.
For men this is a neck bow (from the head only) whilst women do a small curtsy. Other people prefer simply to shake hands in the usual way.
On presentation to The Queen, the correct formal address is 'Your Majesty' and subsequently 'Ma'am,' pronounced with a short 'a,' as in 'jam'.
For male members of the Royal Family the same rules apply, with the title used in the first instance being 'Your Royal Highness' and subsequently 'Sir'.
For other female members of the Royal Family the first address is conventionally 'Your Royal Highness' and subsequently 'Ma'am'.
Kate said about the centre:
It’s amazing for all of you to have this support.
Particularly at such a difficult time, such a tragic time now.
She also met privately with families who had lost loved ones to the fire and praised the community for working "tirelessly" in the aftermath of the tragedy.