Catherine is chic in military-style coat alongside William, Charles and Camilla

The Duchess of Cambridge perfected military chic on Tuesday as she stepped out alongside Prince William, along with her father-in-law the Prince of Wales and the Duchess of Cornwall.

Carrying out their first joint engagement in nine years, the foursome visited the new Defence Medical Rehabilitation Centre in Loughborough, where they met with injured veterans and took part in a spot of wheelchair basketball.

Catherine looked sensational for the outing as she opted for a military-inspired ensemble by British fashion house Alexander McQueen. The two-piece was made up of a cropped tailored jacket with two rows of large buttons and a sharp collar, along with a pleated A-line skirt which fell to her ankles.

While the Duchess of Cornwall opted for a smart three-piece teal suit, which was made up of an A-line skirt, tailored waistcoat and smart overcoat. Camilla, who was all smiles during the joint engagement, completed the look with a romantic ruffled blouse and a pair of knee-length black suede boots.

The royals spent time meeting patients and members of staff at the rehabilitation centre, which helps some of the worst-injured members of HM Armed Forces.

A statement released by Kensington Palace said: “Together with The Duchess of Cornwall and The Duchess of Cambridge, they met patients and staff at DMRC Stanford Hall, which rehabilitates some of the most seriously injured members of the Armed Forces, whilst also helping to return those who have been injured in the course of training to work.

“It’s not all about physical rehabilitation though — supporting the mental health of patients is also a key part of the recovery process, with several patients at centre using gardening as a form of therapy, and in the workshop woodworking and other practical skills helped people gain more confidence and learn new skills.”

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Prince Charles appeared to be in high spirits during the outing, and the heir to the throne even shared a sweet father-son moment with the Duke of Cambridge as he cheered on his eldest son as he attempted to make a difficult basketball shot from a seated position in a wheelchair.

A video shared on the Kensington Royal Instagram page showed Prince Charles, 71, pushing his son closer to the basketball net, before giving him a supportive squeeze on both shoulders.

Royal fans commented on the video, praising the pair for their sweet relationship. One wrote: “I love the father son bonding. Prince Charles is so cute.”

Another wrote: “It’s so cute how bouncy and giddy he was when his dad started pushing the wheelchair closer, lol. Soooo cute!” While another said: “Sooo cute to see the affection between Prince Charles and Prince William, a rare glimpse of them just being father and son!”