It's no secret that Princess Diana and King Charles III (then-Prince Charles) had a tense marriage—it did end in an affair and divorce after all. There were certain things that the former royal couple just couldn't see eye to eye on.

On Jan. 21, the Prince of Wales, 42, kicked off the workweek with a visit to Centrepoint's Ealing hub in London to meet young people being supported by the charity.

Kate Middleton wore a symbolic pair of earrings connected to Princess Diana at the Royal Marsden Hospital on Jan. 14, when she visited cancer patients and staff and announced she is in remission.

Kate Middleton can now give British business her seal of approval, literally. The Princess of Wales, Kate Middleton is known to be a favorite amongst all royals and enjoys the approval of the general public the most.

William first visited the charity with his mother three decades ago. Prince William made a royal appearance today with a visit to the U.K. charity, Centrepoint. The visit marked a continuation of the charitable work done by his late mother,

Prince William will step out in London on Tuesday, the same day that Prince Harry's High Court trial begins. The Prince of Wales is set to visit Centrepoint's Ealing service, marking a significant milestone as he celebrates 20 years as Patron of the homeless charity.