Prince William is set to visit her grave on Thursday.
After the visit, Benjamin Netanyahu and his wife Sara hosted the prince at the prime minister's residence.
William then stood in the same spot where the photo was taken and said: "Need to come back with the family for this shot".
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"The Duke of Cambridge visits Jerash, the same site that The Duchess of Cambridge visited, aged 4, with her sister and father when the family lived in Jordan", the palace captioned the pics.
The Duke and Duchess of Cambridge previous year visited the Stutthof camp, following in the footsteps of his father Prince Charles who has long taken a particular interest in honouring survivors of the Holocaust and those who came to Britain on the Kindertransport. "We know some of the politics are hard, but this is not a political visit".
The official royal visit is part of a larger tour of the Middle East for Prince William.
Wearing a black Jewish skullcap, William, second in line to the throne, laid a wreath in the Hall of Remembrance at the Yad Vashem memorial, where an eternal flame flickers and the names of extermination and concentration camps are engraved in the floor.
On Sunday, the Duke noted that his wife is "upset" to be missing the trip to Jordan.
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Later, in the night, Nick and Priyanka were chilling in the balcony of her Juhu residence while she was enjoying the rains. The source also claims that they are very happy together and that things are getting more and more serious a time goes by.
Although not confirmed, local Israeli media have been speculating about Prince William visiting the three major religious sites in Jerusalem; the Church of the Holy Sepulchre, the al-Aqsa Mosque and the Dome of the Rock on the Temple Mount, and the Western Wall.
The Israelis seized the West Bank and east Jerusalem from Jordan in the 1967 Six-Day War.
A devoted Aston Villa fan, William, 36, is wearing beige trousers and a tie-less sky blue shirt, while 23-year-old Hussein, is wearing a short-sleeved T-shirt and jeans.
The prince wrapped up the busy day with a reception held by the British ambassador that included demonstrations by Israeli tech startups and which was attended by Israeli celebrities, politicians and other public figures. "Never has hope and reconciliation been more needed", he told the crowd, after wishing everyone a good evening, in Hebrew.
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