READ MORE: Photos show Prince William struggling to take his eyes off Kate Middleton during their Caribbean tour Prince George and Princess Charlotte joined Prince William and Catherine at the memorial service for their great-grandfather this morning at Westminster Abbey (March 29). The pair looked shy as they arrived hand-in-hand with their parents but soon started to smile as they ventured into the Abbey. While the service was underway, many royal fans couldn't help but point out the adorable moment Princess Charlotte was scanning the rows behind her and saw her father's cousin, Princess Beatrice.