The royal family attended the annual event at Westminster Abbey on Dec. 5

Princess Charlotte and Kate Middleton at “Together at Christmas” carol service.Credit : Samir Hussein/WireImage; Max Mumby/Indigo/Getty

Kate Middleton shared a sweet moment with daughter Princess Charlotte during her recent Christmas service.

On Friday, Dec. 5, the royal family attended the Princess of Wales’ fifth annual “Together at Christmas” carol service in London.

Kate, 43, arrived at the event early to greet guests, volunteers and performers, and when Prince William arrived shortly after with their three children — Prince George, 12, Princess Charlotte, 10, and Prince Louis, 7 — the couple’s daughter had an adorable interaction with her mom.

Charlotte was photographed smiling as she greeted Kate near the entrance of Westminster Abbey, where the event took place, before the Princess of Wales placed a hand on her daughter’s back and guided the kids into the venue.

Prince William, Prince George, Princess Charlotte, Prince Louis, and Kate Middleton at “Together At Christmas” Carol Service.Aaron Chown / POOL / AFP via Getty

Princess Kate launched the carol service in 2021 as a way to honor community heroes who worked on the frontlines and spent time volunteering during the COVID pandemic.

The annual event was held at the same venue that saw William and Kate tie the knot in 2011 and featured the theme of “love in all its forms.”

PEOPLE Magazine’s Christmas at the Palace issue.People Magazine

This year, the event included a Christmas tree with a red paper chain wrapped around it, featuring names and various messages. Among them were those of William and Kate’s three children.

The royal family wore color-coordinated outfits at the event. George and Louis had on navy blue suits with white shirts alongside their father, as Charlotte wore a navy dress with a white collar.

Kate, meanwhile, wore a long green jacket with fur trim around the neckline, which matched the pops of color in George and Louis’ ties.

Joining Kate and William were other members of the royal family, including Zara Tindall and her husband, Mike Tindall, as well as Lord Frederick Windsor, his wife, Sophie Winkelman, and their daughters, Maud, and Isabella, 9.

Princess Margaret’s daughter, Lady Shara Chatto, also attended the service alongside Kate’s parents, Carole and Michael Middleton, her brother, James Middleton, and his wife, Alizée Thevenet.

While Hannah Waddingham was initially scheduled to perform at the service, per Hello!, she had to drop last-minute after her singing voice became compromised. Instead, singer-songwriter Zak Abel performed the classic Christmas carol “Silent Night.”

Other celebrity guests involved in the program included Eugene Levy, Mary Berry, Kate Winslet, Chiwetel Ejiofor, and Dan Smith.