Prince Edward, Countess of Wessex and their children, Lady Louise Mountbatten-Windsor and James, Viscount Severn, were also in service.
Queen Elizabeth did not attend the traditional royal Easter service at St George's Chapel this year amid health concerns.
Prince William and Kate join other members of the royal family for the annual Easter Matins service at Windsor Castle near London on Sunday (April 17).
The monarch, who turns 96 later this month, is suffering from problems with his mobility and did not attend the annual Royal Maundy service on Thursday (April 14).
William and Kate, Duke and Duchess of Cambridge arrive at the chapel with Prince George and Princess Charlotte.
Prince Edward, Countess of Wessex and their children, Lady Louise Mountbatten-Windsor and James, Viscount Severn, were also in service. (Reuters)