Kate MiddletonandPrince Williamare number one in each other’s hearts!

The Prince and Princess of Wales, both 41, displayed arare moment of PDAat theRoyal Charity Polo Dayat Guards Polo Club on Thursday.Polo playerPrince William rode in the charity event for the U.S. Polo Association, saddling up on defense and scoring to tie the game at 2-2 before pushing forward to secure the prize-winning point.

Karwai Tang/WireImageSamir Hussein/WireImage

Catherine, Princess of Wales and Prince William, Prince of Wales embrace at the Out-Sourcing Inc. Royal Charity Polo Cup 2023

Princess Kate was asupportive sports wifeas William played, from flashing a thumbs up before he hit the field to animatedly cheering from the sidelines.

And Prince William wasn’t the only winner of the day — the 2023 Royal Charity Polo Day raised over $1.2 million for causes close to William and Kate’s hearts this year, and over a total of $15 million for charity through the last 12 years.

Kate Middleton and Prince William at Royal Charity Polo Day at Guards Polo Club.Charlie Crowhurst/Getty

Catherine, Princess of Wales gives the thumbs up to Prince William, Prince of Wales as he takes part in the Out-Sourcing Inc. Royal Charity Polo Cup 2023

Charlie Crowhurst/Getty

The Prince and Princess of Wales’ double kiss on the polo field marks their second lovey-dovey public moment in two days.

On Wednesday, the couple stepped out in Scotland forKing CharlesandQueen Camilla’scoronation celebration— where KatetappedWilliam’s backside during the church service at St. Giles' Cathedral.

The touch wasreminiscent ofanother lighthearted love pat the pair shared at the BAFTAs in February. As the couple walked the red carpet at the Royal Festival Hall in London,Voguecameras caught a blink-and-you’ll-miss-it moment where Kate patted William’s butt.

Prince William and Kate Middleton at the Scotland coronation celebration on July 5.PETER BYRNE/POOL/AFP via Getty Images

Queen Camilla, Britain’s King Charles III, Britain’s Prince William, Prince of Wales, and Britain’s Catherine, Princess of Wales, attend a National Service of Thanksgiving and Dedication inside St Giles' Cathedral

PETER BYRNE/POOL/AFP via Getty Images

While Prince William was focused on the polo field on Thursday, Princess Kate seemed to embrace the relaxed atmosphere — from (literally) letting her hair down tosipping a glass of champagne! The royal parents shared another sweet exchange at the Royal Charity Polo Day last year, kissing each other on the cheek after William’s team won the fundraising polo tournament

Kate Middleton at Royal Charity Polo Day at Guards Polo Club.Karwai Tang/WireImage

Catherine, Princess of Wales attends the Out-Sourcing Inc. Royal Charity Polo Cup 2023 at Guards Polo Club

Karwai Tang/WireImage

Royal etiquette expert Myka Meier, founder and director of Beaumont Etiquette,previously told PEOPLEthat there are no formal rules on royal couples showing romantic gestures in public — it’s at their own discretion.

“Senior members of the royal family would likely not be told how to interact or when they can or can not show PDA and would be trusted to use their better judgment as to when it’s appropriate,” Meier explained. “The royals often adjust PDA to mirror the formality of the event they are attending. At a somber or more formal event, we are less likely to see PDA than at a casual event where it would be deemed more fitting.”

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Catherine, Duchess of Cambridge kisses Prince William, Duke of Cambridge during the prize-giving of the Out-Sourcing Inc. Royal Charity Polo Cup at Guards Polo Club, Flemish Farm on July 6, 2022 in Windsor, England.

The couple’s most famous kiss came after their royal wedding in April 2011.

Kate Middleton and Prince William kiss following their April 2011 wedding.John Stillwell - WPA/Getty

Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge kiss on the balcony of Buckingham Palace after getting married on April 29, 2011

John Stillwell - WPA/Getty

source: people.com