Kate hailed the Guards' inspiring work and their "boundless, irreverent, glorious sense of humor".
William sipped from a pint of Guinness while Kate held a half-pint in the noisy Junior Ranks dining hall.
William went round tables to say his farewells after 13 years and said he was going to miss their noise and humor.
Kate promised to support and champion the Guards in all they do, a responsibility she does not take lightly.