But the pressure moment came when she had to hit the ball over the bar after watching England player Tom Halliwell expertly punt it between the posts.
England’s World Cup-winning wheelchair aces were astonished by how quickly she picked up the skills. They cheered and applauded after she scored in the corner before adding a conversion.
Tom Coyd, England’s coach, said: “She took to manoeuvring the chair really quickly.
“I’m not just saying this because it’s her, but it’s the first time I’ve ever seen anyone score a conversion at their first attempt.
“I think she’s been having secret practice sessions before coming here because she was a natural.
“She even finished off a passing move with a try in the corner.
“She blew me away, to be honest.”
His triumphant team defeated defending champions France 28-24 to win the World Cup final in Manchester in November.
Kate told him how she, William and their three children, George, Charlotte and Louis, were “screaming” at the TV as they secured victory.
The coach, beaming with pride, added: “She told me that the collisions on the TV is what hooked the kids in.
“She hosted a reception for us at Hampton Court after we won and promised she would have a go herself.
“For her to be up here today, getting in a wheelchair and giving it a go was really impressive.
“I’ve seen people get in the chair and look really awkward.
“But she was so at ease with it all.”
World cup winner Tom Halliwell, 24, had only just recovered from meeting Prince William the day before.
He said: “I got my OBE from William at Windsor Castle on Wednesday and now I’m meeting Kate.
“It’s been a crazy 48 hours. It was amazing to meet William – a once-in-a-lifetime opportunity.
“It’s been quite a humbling experience.”
He showed the Princess how to score a conversion and watched in awe as she saw the ball pass through the posts. “It’s all down to the coaching,” he said with a smile.
Kate made the trip to Hull as part of Rugby League inclusivity day.
She chatted with wheelchair players before taking part in drills with players who have learning disabilities.
The Princess was presented with three England rugby league shirts – one each for George, Charlotte and Louis.
Wheelchair Rugby League is currently the most inclusive format across Rugby League.
It provides the opportunity for all to play together regardless of gender or disability.
