Six D-Day veterans were also at the event.
Live updates of news, pictures, social media and key moments of the 75th Anniversary of D-Day commemorations
The nation is honouring D-Day fighters 75 years on from the landings.
249 Gurkha Squadron were welcomed to Picton Barracks by Princess Anne.
Black Sunday is a regimental day to pay tribute to fallen guardsmen.
More than 2,000 veterans contact the charity for assistance each year.
Radio stations across the UK joined forces with HRH The Duke of Cambridge to mark Mental Health Awareness Week.
Her Majesty The Queen will attend the event in Portsmouth next month to mark D-Day's 75th anniversary, as will US President Donald Trump.
The 2020 Invictus Games is taking place in The Hague.
The couple's firstborn, who is seventh in line to the throne, made his world debut with his besotted parents.
Alistair Inglis served for nearly 15 years in the military before leaving in May 2012.
The Duchess of Sussex gave birth to a son on Monday.
The baby boy weighed 7lb 3oz and was born at 5.26am.
Since April 1969, at least one UK ballistic missile submarine has been on patrol beneath the waves of the world's oceans.
Members of R Company received operational service medals for their work in Afghanistan, Iraq and Syria.
The Duke of Sussex attended the service to honour the sacrifices of Australian and New Zealand forces.