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Prince William was absent as he makes his way home from Brazil, after spending the week there for the Earthshot Prize Awards

Kate Middleton stepped out to honor an annual tradition surrounding Remembrance Day, with her eldest child, Prince George, at her side. Prince William, meanwhile, was absent as he returns to the U.K. from Brazil following the Earthshot Prize Awards.

The Princess of Wales, 43, joined King Charles, Queen Camilla and other members of the royal family on Saturday, Nov. 8, at the Royal British Legion’s annual Festival of Remembrance at Royal Albert Hall in London.

George, 12, made his first appearance at the festival. In another first, he previously joined his parents at the Buckingham Palace tea party King Charles and Queen Camilla hosted for veterans and members of the World War II generation on May 5.

PEOPLE understands that the Prince of Wales is traveling home on a commercial flight from Belém — where flight options are limited — and will return in time for Remembrance Sunday at the Cenotaph on Nov. 9.

Saturday’s annual event honoring fallen soldiers from the U.K. and the Commonwealth is a staple on the royal calendar. The Princess of Wales even made a rare outing at the event last year despite spending most of 2024 out of the public eye as she received cancer treatment. She announced she was in remission in January.

In keeping with tradition, Princess Kate and Prince George wore dark ensembles accented with red poppy pins — the enduring symbol of remembrance. The poppy, inspired by John McCrae’s 1915 poem “In Flanders Fields,” has been worn since 1921 to honor those who lost their lives in war.

The Princess of Wales chose a black Alessandra Rich dress with a white lace statement collar, paired with pearl and diamond earrings that once belonged to Queen Elizabeth. She completed the look with a brooch featuring the insignia of HMS Glasgow, the Royal Navy ship she officially named in May.

On Tuesday, Nov. 11, Princess Kate will mark Armistice Day by visiting the National Memorial Arboretum and attending their Service of Remembrance. She will join other visitors in observing a two-minute moment of silence at 11 a.m. and lay a wreath at the Armed Forces Memorial in memory of all those who have served, especially those who made the ultimate sacrifice.

Meanwhile, other royals — including the King, Queen and Prince William — are set to attend a reception at Windsor Castle for veterans who served in World War II on Tuesday.

The series of Remembrance Day events comes after a busy few weeks out of the public eye for Princess Kate. The royal couple scaled down their engagements to spend time with their three children — Prince George, Princess Charlotte and Prince Louis — during their school’s half-term break, and the family moved into their new home, Forest Lodge in Windsor. The eight-bedroom residence is said to be the family’s long-term home, where they plan to stay even when William accedes to the throne.

Then, over the past week, Prince William made a solo trip to Brazil, with the highlight of his visit being the fifth Earthshot Prize awards ceremony. Five winners were announced as part of the royal heir’s 10-year project to find innovations to help the environment.

The Festival of Remembrance also marked the royal family’s first major gathering since the former Prince Andrew, 65, was stripped of his royal titles. Buckingham Palace announced on Thursday, Oct. 30, that King Charles had begun the process of removing his brother’s royal titles and honors, including prince. He will now be known as Andrew Mountbatten Windsor.

Andrew will also vacate his longtime residence of Royal Lodge in Windsor. PEOPLE understands that he will relocate to a property on the private Sandringham estate, and any future accommodation will be privately funded by King Charles.