In a surprise feat of endurance, Kate took on the gruelling Three Peaks Challenge a week ago to raise money for a cancer charity and "explore life beyond diagnosis".
The future queen climbed the highest mountains in Scotland, England and Wales - Ben Nevis, Scafell Pike and Snowdon - within 24 hours, starting on the evening of June 27.
Now images of Kate being met by the Prince William and their children Prince George, Princess Charlotte and Prince Louis, parents Carole and Michael Middleton and brother James Middleton, have been released on Instagram.
They show the princess hugging her husband in one image, with her arms around Charlotte in another.
She is also seen with her arm around George, holding hands with Louis and chatting to her family.
The final group picture shows Kate with her family, including her parents, brother, and his dog.
"This time last week, completing the National Three Peaks Challenge," the caption says.
"A huge thank you to everybody who has supported The Royal Marsden Cancer Charity.
"To find out more or donate, please visit http://royalmarsden.org/princessofwales"
James Middleton posted a photo of the two of them hugging on his Instagram, saying he was "so incredibly proud of my darling sister".
"Two years ago, I told you we'd climb this mountain together," the caption says.
"We talked about climbing mountains while you were in hospital, and about the incredible healing power that nature can have for both the body and the mind.
"So it was such an honour to join you for your Three Peaks Challenge for the Royal Marsden Cancer Charity.
"Seeing how far you've come is nothing short of inspiring. Your strength, resilience, and determination, all while being the most amazing mother, wife, daughter, and sister, inspire me and so many others every single day.
"Keep being exactly who you are."
Kensington Palace said it believed the expedition was a royal first, with the princess being the first member of the royal family to complete the Three Peaks challenge.
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