See Princess Kate Arrive at Children's Charity Today – PEOPLE Is on the Scene!

03/11/2016 AT 10:25 AM EST

It's a Princess Kate Friday – with a meaningful message.

A day after shining a spotlight on the "last taboo" of suicide, the royal mom and husband Prince William stepped out again, this time returning to an inner-city charity that helps young people move away from lives blighted by crime and violence.

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The couple last visited the charity XLP on the day just before Kate went on maternity leave to welcome Princess Charlotte last year. Back then, they had a "whale of a time" joining a singalong, founder and CEO Patrick Regan told PEOPLE, while William told well-wishers that the prospect of having two children was a "game changer".

See Princess Kate Arrive at Children's Charity Today – PEOPLE Is on the Scene!| The British Royals, The Royals, Kate Middleton

Prince William and Princess Kate

Chris Jackson / Getty

Kate, who met with children from the charity, wore a coral-hued design by Eponine London and her classic royal lob.

When Regan introduced the couple, he reminded the crowd of last year's royal visit, when they unveiled the charity's converted former police riot van that had been featured on MTV's Pimp My Ride. When he asked if anyone had heard of the show, William's hand shot up.

"When I told people the duke was coming back, they said, 'Can you get him to rap in the van?' " Regan joked.

"The duke and duchess were really touched by the stories they heard," Regan told PEOPLE. ""They're very passionate about youth mental health and very passionate about really hearing from young people about what the issues are."

"They were joining in and laughing and really attentive," he continued. "They are great listeners, and in all the conversations that happened afterwards people felt very listened to and valued."

Next week, the royal parents have several official outings, beginning with a service alongside Queen Elizabeth and Prince Philip to mark Commonwealth Day. Kate will end the week by carrying out an engagement closer to her country home. She is to open a charity shop in Holt, Norfolk, that will raise money for East Anglia's Children's Hospices, of which she has been patron since 2012.
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