Prince William Helps Mother-in-Law Carole When Her Shoe Gets Stuck, Just Like He's Done with Kate Middleton!

Prince William helped his mother-in-law during a shoe snafu at Royal Ascot.

The Prince of Wales, 41, spent time with wife Kate Middleton's parents, Carole and Michael Middleton, at the horse racing event on June 19. At one point, Carole's heel got stuck in the grass and came off her foot. Prince William held his mother-in-law's hand as she slipped the shoe back on, both laughing at the minor wardrobe malfunction.

Prince William knew just what to do to help Carole as he'd used the move before with the Princess of Wales!

Can't get enough of PEOPLE's Royals coverage? Sign up for our free Royals newsletter to get the latest updates on Kate Middleton, Meghan Markle and more!

In 2013, Kate's heel got stuck in a grate at the Irish Guards' St. Patrick's Day parade. Prince William held his wife's arm to help support her as she remedied the situation.

Zara Tindall had a trick up her sleeve (or rather, on her shoe) to avoid a similar shoe situation at the Buckingham Palace garden party on May 21.

Queen Elizabeth's granddaughter, 43, sported protective stoppers on her heels to prevent her from sinking into the wet lawn so she could mingle with guests on the grass. (Queen Elizabeth, who died in 2022, admitted that the weather "can be a bit of a worry" when it comes to throwing garden parties at the royal residences. "Well, you do rather hope the sun shines as when you invite 8,000 people to have tea on your lawn," the history-making monarch told Victoria English, a teacher from Wales, at a 2019 gathering.)

While Prince William entered Royal Ascot riding in a horse-drawn carriage in the Royal Procession which kicks off each race day, Carole and Michael met with him in the Parade Ring.

Carole, 69, and Michael, 74, were also spotted catching up with Princess Beatrice, Princess Eugenie,  Zara and Mike Tindall and other members of the royal family before heading up to the Royal Box to watch the races.

Prince William and the other men in the Royal Enclosure top hats, as called for in the area's dress code. Men are required to wear morning dress (black, grey or navy only) with a waistcoat and necktie ("patterns of a patriotic nature, for example a national flag, are acceptable").

Carole wore a light blue dress with a matching hat, reminiscent of one of her daughter's memorable summer looks.

The Middletons' outing at Royal Ascot marked their first public appearance since their eldest daughter announced her cancer diagnosis.

Although the Princess of Wales, 42, made her first outing with the royals on June 15 at Trooping the Colour, celebrating King Charles' official birthday, she did not attend Royal Ascot with her family. Palace aides emphasized that Princess Kate's appearance at Trooping the Colour didn't signal a full return to public life as she continues to prioritize her health.

"She has been doing what’s right for her and recovering privately at home. She is dealing with it the best she can," a source close to the royal household tells PEOPLE exclusively in this week's cover story. 

Shortly after Princess Kate announced her cancer diagnosis and treatment, Prince William and Carole grabbed a drink at a local pub, according to an April 10 report from Richard Eden of the Daily Mail.

"It was all very low-key with no great fanfare. He just walked in and through the pub. He appeared to be with Carole Middleton," Eden quoted a patron.

A source previously told PEOPLE that Kate’s parents "will be there to lend support" following her abdominal surgery in January. The Middletons live a short car ride away from the Prince and Princess of Wales' home in Windsor and are a constant presence in their grandchildren's lives, often having Prince George, 10, Princess Charlotte, 9, and Prince Louis, 6, over for sleepovers.

"Her parents are an enduring factor in the upbringing of their grandchildren," a palace insider said.

Princess Kate’s siblings, sister Pippa and brother James, also live nearby, and her younger brother shared a touching statement on Instagram following her cancer news announcement. "Over the years, we have climbed many mountains together. As a family, we will climb this one with you too," James captioned a throwback photo from their childhood.