Kate Middleton, who is about 12 weeks pregnant, is suffering from extreme morning sickness which has forced her to miss recent engagements.
However, her condition has improved and the duchess said she “had been looking forward to getting out of the house”.
Kate Middleton has a second engagement at an awards ceremony on Tuesday evening.
The duchess last appeared in public at the start of August, when she visited the World War One poppy installation at the Tower of London.
Kate Middleton’s pregnancy was announced in September and the April due date was announced on October 20.
Prince William and Kate Middleton’s second baby will become fourth in line to the throne, behind older brother Prince George, who was born in July last year.
The Duke and Duchess of Cambridge met Singapore’s President Tony Tan and his wife in the presidential suite of London’s Royal Garden Hotel.
Later this evening, Kate Middleton is due to attend the Wildlife Photographer of the Year awards gala at the National History Museum.
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