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George and Charlotte sing loudly at Kate's Christmas carol service on Christmas Eve

Prince George and Princess Charlotte sang at the top of their voices at their mother, the Princess of Wales's, Christmas carol service, which honoured the memory of the late Queen.

The future king and his younger sister held candles as they joined the congregation for a celebratory evening at Westminster Abbey earlier this month.

George and Charlotte were among more than 1,800 people who attended the televised service on Christmas Eve, which was narrated by Catherine Zeta-Jones.

At one point, Kate was seen putting her arm around Charlotte's shoulder in a comforting manner, while the Prince of Wales placed a helping hand on his son George's back.

William, George, Charlotte and Kate together at Christmas service (Getty Images)

William, George, Charlotte and Kate together at Christmas service (Getty Images)

Kate dedicated the Christmas service to the late Queen and paid tribute to her “incredible legacy”, which she said had “deeply inspired many of us”.

Introducing the programme, Kate, who led the service with support from the Royal Foundation, said she was “thrilled” to be returning to the abbey for a second year.

She said: “This Christmas will be our first without Her late Majesty Queen Elizabeth.

“Christmas was very close to Her Majesty’s heart, as a time to bring people together and remind us of the importance of faith, friendship and family, and to show empathy and compassion.

“This year we invited hundreds of inspiring people to the service.

“Those who demonstrate the power of connection and community values ​​allow us to continue Her Majesty's tradition of recognising and thanking those who have gone above and beyond the ordinary to support others.

“Her Majesty leaves us an incredible legacy that has deeply inspired many of us.”

During the service, images of the late Queen appeared over time on a grand piano while an instrumental version of “In The Bleak Midwinter” was played.

The Princess of Wales with Sophie, Countess of Wessex (Getty Images)The Princess of Wales with Sophie, Countess of Wessex (Getty Images)

The Princess of Wales with Sophie, Countess of Wessex (Getty Images)

The service was attended by a variety of members of the royal family, including the King and Queen, the Countess of Wessex, Princesses Beatrice and Eugenie, and Zara and Mike Tindall.

Performers included the Westminster Abbey Choir, singers Craig David and Alfie Boe, and Melanie C, who sang a duet, while William and Dame Kristin Scott Thomas gave readings.

A Christmas tree in the abbey was decorated with small Paddington Bear decorations, a nod to the late Queen's famous sketch, while guests were greeted at the entrance with atmospheric snowflakes from a snow machine.

The service took place on December 15, just hours after the final part of the controversial documentary about the Duke and Duchess of Sussex appeared on Netflix.