Their final visit of the day will be to Belfast Empire Hall to celebrate "inspirational young people who are making a real difference in Northern Ireland".
The Youth Village, which sits on the shores of Lough Erne, caters for young children from across the island of Ireland.
The Duchess, 37, stunned in a £1,590 Missoni striped metallic-knit wrap dress in a flattering powder blue, featuring a mid-length pleated skirt, just hours after donning her sport gear for an impromptu football match.
William and Kate were greeted by scores of cheering schoolchildren and stopped to chat with the crowds, with the duchess being presented with a number of bunches of flowers.
William and Kate - or Baron and Lady Carrickfergus as they're known in Northern Ireland - spent the day meeting locals and carrying out a string of engagements.
Kate helped assemble a tent before taking part in a game of archery.
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The royal couple were earlier given an official welcome to the venue by Lord Lieutenant of Belfast Fionnuala Jay-O'Boyle.
They also played football with some of the young people they met at the stadium.
Comedian Shane Todd performed as the royal couple engaged in conversations with those in attendance.
William then took his turn, saying "here we go" as he tilted the pint glass.
He joked: "Everyone seems excited for some reason, I met them at the door, they were very nervous but hid it well".
He said it was "fitting" to recognise Dame Mary, who he said had "helped inspire so many of you in the first place". And I hope you can all join me in thanking and congratulating her personally this evening.