Kate Middletonknows how to dip into thepicture-perfect curtsy…even with obstacles!

The Princess of Wales, 41, joinedPrince William, also 41, on Tuesday in welcoming the President of South Korea, Yoon Suk Yeol, and his wife, First Lady Kim Keon Hee, to the U.K. for theirstate visit. After meeting the presidential couple at their hotel, the foursome made their way to Horse Guards Parade in London, where they joinedKing CharlesandQueen Camillafor the ceremonial welcome.

Prince William led the way, guiding the president to shake hands with the monarch. As they exchanged greetings, Prince William bowed his head to greet King Charles, 75, and Queen Camilla, 76, then made his way around them to take his spot.

Just as public citizens may opt to do whenmeeting a royal, it’s common to see members of the family showing respect while greeting each other — men traditionally bow their heads while women curtsy.

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Catherine Princess of Wales President of South Korea Yoon Suk Yeol State Visit

When royals don’t bow or curtsy to greet the King and Queen, there’s likely a logical reason why: they’ve likely already seen each other that day. Along with the more formal gesture, King Charles and Queen Camilla are often seen greeting family members with kisses on the cheeks or hugs.

British royals host Korea state visit on Nov. 21, 2023.Chris Jackson - WPA Pool/Getty Images

First Lady of South Korea, Kim Keon-hee, President of South Korea, Yoon Suk Yeol, Former Prime Minister and Secretary of State for Foreign, Commonwealth and Development Affairs, David Cameron, King Charles III, Secretary of State for the Home Department, James Cleverly, Queen Camilla, Prince William, Prince of Wales and Catherine, Princess of Wales attend a ceremonial welcome for The President and the First Lady of the Republic of Korea at Horse Guards Parade

Chris Jackson - WPA Pool/Getty Images

In a nod to the blue on Korea’s flag, the Princess of Wales woresapphire and diamond drop earringsthat previously belonged to her late mother-in-law, Princess Diana (ajewelry repeatworn just last week, which perfectly complements their shared engagement ring — perhaps in a nod to the anniversary of Kate and William announcing their engagement news to the world on Nov. 16, 2010).

Prince William and Kate Middleton on Nov. 21, 2023.Samir Hussein/WireImage

Prince William, Prince of Wales and Catherine, Princess of Wales attend a ceremonial welcome for The President and the First Lady of the Republic of Korea at Horse Guards Parade

Samir Hussein/WireImage

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Prince William and Princess Kate’s senior status within the royal family was reflected in their major role in welcoming South Korea’s president and first lady.

The day after Queen Elizabeth’s death in Sept. 2022, King Charles made William and Kate the newPrince and Princess of Wales, recognizing their critical roles ahead.

“Charles is leading the way for them already, and [William and Kate] are both involved in decision-making behind the scenes. They are ready and willing to do the job — and Kate is very much a part of that,” a friend of the princessrecently told PEOPLE.

Prince Wililam and Kate Middleton host Korea state visit on Nov. 21, 2023.Chris Jackson - WPA Pool/Getty Images

Prince William, Prince of Wales and Catherine, Princess of Wales attend a ceremonial welcome for The President and the First Lady of the Republic of Korea at Horse Guards Parade on November 21, 2023 in London, England

source: people.com