The drop-in at St. Vincent’s Centre, run by The Passage charity in London, was part of an ongoing series of visits by William and Prince Harry to many of the charities associated with the late princess as they observe the 20th anniversary of her death in August.
The last time William headed to The Passage publicly, he met a volunteer who had first encountered him when he was there with his mother in the early 1990s.
Those childhood visits, William said in May last year, had left a lasting impression on him and his brother. William has made fighting homelessness a key area of his public work, and he followed his mother in being patron of another similar charity, Centrepoint.
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Last year, Harry made a private visit to Mildmay hospital, where Diana spent time with those battling HIV in the 1990s. Harry has campaigned to smash the ongoing stigma about testing for HIV part of his royal work.