They arrived at the estate gates just after 12pm and remained for about 45 minutes.
William and Kate knelt down and read cards left by mourners as thousands watched on.
They then made their way to the packed crowd, shaking hands and engaging in conversation.
Here are all the pictures from the Prince and Princess of Wales' visit to Sandringham.
![Eastern Daily Press: The Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk")
The Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk (Image: Chris Bishop)
![Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk")
The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk (Image: PA Wire/PA Images)
![Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk")
The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk (Image: Chris Bishop)
![Eastern Daily Press: The Prince of Wales meeting wellwishers at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince of Wales meeting wellwishers at the gates of Sandringham House in Norfolk")
The Prince of Wales meeting wellwishers at the gates of Sandringham House in Norfolk (Image: PA Wire/PA Images)
![Eastern Daily Press: The Prince and Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince and Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk")
The Prince and Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk (Image: Chris Bishop)
![Eastern Daily Press: The Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk")
The Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk (Image: PA Wire/PA Images)
![Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk")
The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk (Image: Chris Bishop)
![Eastern Daily Press: The Prince of Wales meeting students from Howard Junior School in King's Lynn at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince of Wales meeting students from Howard Junior School in King's Lynn at the gates of Sandringham House in Norfolk")
The Prince of Wales meeting students from Howard Junior School in King's Lynn at the gates of Sandringham House in Norfolk (Image: PA Wire/PA Images)
![Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk")
The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk (Image: PA Wire/PA Images)
![Eastern Daily Press: The Prince of Wales meeting wellwishers at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince of Wales meeting wellwishers at the gates of Sandringham House in Norfolk")
The Prince of Wales meeting wellwishers at the gates of Sandringham House in Norfolk (Image: PA Wire/PA Images)
![Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk")
The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk (Image: PA Wire/PA Images)
![Eastern Daily Press: The Prince and Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince and Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk")
The Prince and Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk (Image: Chris Bishop)
![Eastern Daily Press: The Princess of Wales views floral tributes left by members of the public at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Princess of Wales views floral tributes left by members of the public at the gates of Sandringham House in Norfolk")
The Princess of Wales views floral tributes left by members of the public at the gates of Sandringham House in Norfolk (Image: PA Wire/PA Images)
![Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk")
The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk (Image: Chris Bishop)
![Eastern Daily Press: The Prince of Wales meeting wellwishers at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince of Wales meeting wellwishers at the gates of Sandringham House in Norfolk")
The Prince of Wales meeting wellwishers at the gates of Sandringham House in Norfolk (Image: PA Wire/PA Images)
![Eastern Daily Press: The Princess of Wales meeting students from Howard Junior School in King's Lynn at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Princess of Wales meeting students from Howard Junior School in King's Lynn at the gates of Sandringham House in Norfolk")
The Princess of Wales meeting students from Howard Junior School in King's Lynn at the gates of Sandringham House in Norfolk (Image: Chris Bishop)
![Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk")
The Prince and Princess of Wales view floral tributes left by members of the public at the gates of Sandringham House in Norfolk (Image: Chris Bishop)
![Eastern Daily Press: The Prince and Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk]( "Eastern Daily Press: The Prince and Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk")
The Prince and Princess of Wales meeting wellwishers at the gates of Sandringham House in Norfolk (Image: Chris Bishop)
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