It followed a thanksgiving service for the Royal Air Force at Westminster Abbey.
Queen Elizabeth and senior members of her family were attending celebrations to mark the 100th anniversary of Britain's Royal Air Force on Tuesday, ahead of a flypast of nearly 100 aircraft over Buckingham Palace in central London.
The Duchess of Cambridge appeared to make a special gesture to involve her tragic mother-in-law in her grandson's christening.
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When the two were about to approach the Archbishop of Canterbury, William told his two eldest children to give a shake of the hand, after doing so Princess Charlotte and Prince George received a "Well done!" from their father.
Lucy Middleton is Kate's cousin and the sister of Adam Middleton, who is one of Princess Charlotte's godparents.
Prince Harry has paid around $10,000 for a first edition "Winnie-the-Pooh" for nephew Louis' christening.
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Earlier Charlotte stole hearts around the world with her impeccable manners at the christening of baby brother Prince Louis. Some critics have even said that Kate looked like she was stuck on the end as if she were the royal family's hired help. But it was largely hidden behind Prince Louis' christening gown.
What a magnificent (and elegant) way to welcome tiny Prince Louis to the faith and the royal family.
Kensington Palace reports that following the service, Wills and Kate hosted a lovely tea for guests back at Clarence House. It is the latter that she had remade in a yellow colour for Prince Harry and Meghan Markle's royal wedding.
Charlotte, who is three, was christened in 2015 at the 16th-century Church of St Mary Magdalene on the queen's country estate in Sandringham in eastern England.
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