In a historic first, Kate Middleton stepped out on her own without other senior members of the royal family to host first lady Melania Trump for a joint outing.

After Melania toured Queen Mary’s Dolls’ House and the Royal Library at Windsor Castle with Queen Camilla, the first lady joined the Princess of Wales, 43, in Frogmore Gardens. There, they met Chief Scout, Dwayne Fields, and members of the Scouts’ Squirrels program who were learning about nature to achieve their “Go Wild” badge.

The women joined a group of 4- to 6-year-olds as the children created artwork. At one table, children pressed inked leaves onto paper, adding illustrations.

“This is beautiful!” the first lady, 55, said as she joined in, filling in a bear outline with a brown marker and adding a sun and grass with yellow and green markers, guided by the children.

Princess Kate sat on the grass nearby, speaking with the children about their art. A small girl took Trump’s hand and led her to another table, where the children were building “bug hotels” from cardboard and tubes.

“Show me how, what I should do,” Trump said. When asked her favorite bug, she replied: “A ladybug.”

Princess Kate and the first lady also joined the children in a lively game with a parachute full of balls, laughing as the kids scrambled underneath to push them out.

Kate arranged a special packed lunch for the children, featuring sandwiches made with honey from her Norfolk home at Anmer Hall. Trump contributed her own sweet touch, gifting each child a jar of White House honey.

Later, the children gathered on straw bales for the Scoutmaster to explain the day’s activities before receiving their “Go Wild” badges, which Kate and Trump presented, congratulating each child with handshakes and applause. Two children then awarded badges to the women in return.

Princess Kate was a Brownie as a child and has been joint president of the Scout Association since 2020.

In March, Princess Kate joined Fields and other Scouts for a visit to the Lake District, and Fields told PEOPLE what Princess Kate shared about how the outdoors brought her solace during her cancer journey.

“She would say, ‘During my recovery, I spent a lot of time in the outdoors because that’s where I felt at peace.’ Or ‘myself and the family come out to the Lakes as often as we can,’ ” the Chief Scout said.

“When people speak about themselves, it feels like they are giving you something, giving a little bit away, and not just there to take,” he added. “That’s her superpower. She’s a wonderfully warm person and invites you into a conversation.”

After their engagement, Melania will travel to Chequers to join President Donald Trump for the remainder of the day’s program.

The state visit officially kicked off the previous day with a welcome ceremony at Windsor Castle, the Trumps visiting Queen Elizabeth’s burial site and an evening state banquet, where King Charles and President Trump both delivered speeches.