Cheering New Yorkers greet William and Kate in first official visit
Kate Middleton and Prince William joined the Queen for her annual Christmas feast.Reuters

The royal family have gathered together for the Queen's annual Christmas dinner.

Prince William and Kate Middleton hot-footed it from a visit to homeless charity Centrepoint in London's Soho, for the festive family get-together.

The Duke and Duchess of Cambridge, Prince George and Prince Harry were joined by their lesser known relations at the lavish dinner.

Even the police outside Buckingham palace had to rely on a crib sheet for fear of turning away a more obscure member of the royal family, such as Prince Michael of Kent.

Wearing a cherry red dress and chandelier earrings, Kate looked suitably festive herself.

Princess Anne and the Earl of Wessex were also at the luncheon, as was Anne's husband Vice Admiral Sir Timothy Laurence, Prince and Princess Michael of Kent, their daughter Lady Gabriella Windsor, Prince Richard and Duke of Gloucester.

The 32-year-old, who is five months pregnant, has convinced the Queen to break with tradition this festive season by coming to her house for Christmas.According to Vanity Fair magazine. The Duke and Duchess of Cambridge will be hosting this year's Royal Christmas dinner at their newly-renovated Norfolk estate, Anmer Hall.The Duke and Duchess of Cambridge recently returned from New York after their first official visit.

The royal couple were greeted by cheering crowds when they arrived at the Carlyle Hotel, where they stayed during their whistle-stop tour.

They attended seven official engagements during the three day whirlwind tour, where they guests of honour at a private dinner held on behalf of American Friends of the Royal Foundation in New York to raise funds for the couple's Scottish alma mater, St Andrews University, which is celebrating its 600th anniversary.

The couple last week released a series of pictures of Prince George who is celebrating his second Christmas.