Kate Middleton giggles after she trips in high heels

The Duchess of Cambridge almost took a spill at her most recent engagement, but she recovered gracefully and with a quick laugh.

The royal joined Prince William on Tuesday to meet with Shout volunteers at the organization's Crisis Volunteer celebration held at Troubadour White City Theatre in London, which brought together supporters from across the United Kingdom.

Their engagement seemed to go without a hitch -- that is, until the duchess lost one of her Gianvito Rossi Piper 85 sued pumps while exiting the venue and almost went down with it.

In footage captured by The Daily Mail, Prince William can be seen swiftly reaching out to support his wife in case she falls. However, the mom-of-three quickly recovers by leaning on the car for support. The couple then starts giggling to each other about the near-disaster moment.

Kate looked business chic as ever for the royal engagement, opting for a pair of maroon slacks from Joseph, grey checkered blazer by Smythe and white shirt. She accessorized the look with a pair of Mappin & Webb earrings and Gianvito Rossi Piper 85 sued pumps, which are available for purchase here.

The service, which was launched in tandem with the Cambridges as well as Prince Harry and Duchess Meghan last May, is the United Kingdom's first 24/7 text service for anyone in crisis. Trained volunteers are able to respond to the text messages and provide free, confidential mental health support to those in need. Since the program's inception, the service has worked with 1,500 volunteers to provide over 145,000 conversations on everything from depression, bullying and suicide.

It's been a busy few days for the Cambridges, who will be stepping out for more royal engagements later this week. On Wednesday, Prince William visited Centre Point's new Apprenticeship House, which aims to support young people in their journey to independent living. The duke has long been affiliated with the organization, which is the leading charity for homelessness, as a patron. Meanwhile, Kate will step out again on Friday to visit a new initiative from East Anglia's Children's Hospice, of which she is a patron.

The couple's appearance this week follows a weekend packed with royal engagements for Remembrance Sunday, which commemorates Britain's fallen service men and women. The couple stepped out on Saturday at Royal Albert Hall their first public appearance with Prince Harry and Duchess Meghan since July, and the first event since Prince Harry revealed there have been "tensions" with his brother in a rare documentary interview that premiered last month.

Starting this week, the Sussexes will take a six-week break from royal duties to spend baby Archie's first Thanksgiving with Meghan's family in Los Angeles. The couple is also said to be visiting Toronto, where the duchess lived while filming "Suits," and where her best friend Jessica Mulroney resides, during their visit across the pond this month.

Meghan and Harry are then expected to return to England to spend Christmas with the royal family in Norfolk, as per tradition.