It’s been a busy day for some senior royals as they took part in different activities both in the UK and abroad – including a bit of boxing for the Prince of Wales.

William, 42, appeared to be enjoying himself as he donned a pair of gloves and had a go at boxing while visiting Centrepoint – a charity supporting young homeless people in London.

During the event, he met some of those being supported by the charity in Ealing, west London.

This year marks the 20th anniversary of William being a patron of Centrepoint, which provides beds for young people – aged 16 to 25 – who experiencing homelessness.

The charity also provides support services such as employment opportunities, access to education and counselling to help users build an independent future.

The Queen, meanwhile, travelled west to visit a new emergency department at Great Western Hospital in Swindon.

Meeting therapy dog Fenton seemed to be a highlight of the visit for Camilla, 77, who, much like the late Queen, loves dogs.

Camilla praised the hospital for its service to the community in Wiltshire and described her personal link to it, saying her grandchildren had been treated there on several occasions.

She spent time with staff and patients in the newly refurbished department and met four-year-old Jackson James, who was with his mother, Jade, and using the infant feeding room within the children’s emergency unit.

Camilla said: “I was thinking about it, and I probably haven’t been inside this hospital for 47 years – since I had my daughter, so that was a few years ago.

“I really wanted to congratulate everybody who has done such a brilliant job with this place and everyone who is working here.

“I do know from first-hand experience the difference you are making to this part of the country. So, congratulations to you all.”

It came as Princess Anne began her two-day trip to South Africa, where she was pictured visiting the South African Riding for the Disabled Association.

It is similar to the UK charity Riding for the Disabled, which the princess supports as president, with both using horse riding to help children and adults with physical disabilities to improve their wellbeing.

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Anne flew to Cape Town via a commercial aircraft, but missing was her husband Vice Admiral Sir Tim Laurence, who has suffered a suspected torn ligament.

During the two-day visit, the princess will commemorate the sacrifices of black South Africans and other races who played a vital role as military labourers during the First World War.

She is president of the Commonwealth War Graves Commission and will unveil the organisation’s Cape Town Labour Corps Memorial, which honours more than 1,700 South Africans who carried out non-combat jobs and died with no known grave or commemoration.