The sporty royal, who donned tight leggings, brown boots and a helmet, was in high spirits as she buckled up for the activity on a visit to the Towers Residential Outdoor Education Centre in Capel Curig, North Wales.
With a big smile on her face, the mother-of-two proved she isn't afraid of heights as she navigated a wooden wall backwards.
As she went backwards over the edge of the 40 foot abseiling wall, she giggled: 'This is the aggghhhhh moment!'
The good sport laughed her way through the activity, which concluded a busy day of duties for the royal and her husband.
Kate and her husband, Prince William, were in North Wales for the day to highlight charity work focusing on young people's mental well-being.
After lunch, the couple changed into walking boots and waterproof jackets and along with representatives of Mountain Rescue England and Wales, of which the Duke is patron, went to meet their fate.
And with a glint in her eye Kate added: 'I'm quite enjoying this actually. For once I'm in control.'
Clearly relishing the moment, she laughed as her instructor jokingly asked how their insurance was and shouted down: 'William - how much do you love me?'
Once at the bottom the couple's famously competitive spirit took over.
As William had a go at climbing back up the wall, Kate said: 'Not that we're competitive but if he does that, then I'm having to do it too!'
Wills fell off as he was almost half-way up the more difficult section of the wall, but recovered his dignity to reach the top.
Kate, dressed in skin-tight black jeans, hiking boots - £160 Brasher Women's Hillmaster - and a hard hat, nimbly followed him.
Instructor Phil Blain, 64, who helped the couple abseil, said: 'If that was Kate's first abseil she did fantastic.
'And that was probably the first time she's held the life of the heir to the throne - and her husband - in her hands.
'He was on a rope so he was fine but he chose the easier side afterwards.'
The couple visited the Towers Residential Centre as it had agreed to host a day of outdoor activities for children from some of the charities they support.
Mountain Rescue Chairman Mike France, 63, said: 'William asked us if we could help some of their vulnerable children from WellChild, Child Bereavement, Place2Be and Centrepoint, which we were delighted to do.
'It's been a really fun day and the couple had a great time.'
Kate also said how much she missed being in Wales, having lived with William in Anglesey as newly-weds when the prince worked as an RAF search and rescue pilot.
'I love it here. I really miss being here, being outside and in the mountains,' she said.
She also told another Mountain Rescue volunteer how much their son, Prince George, loves helicopters 'like his Daddy'.
Pauline Hallett of Ogwen Mountain Rescue said: 'William used to fly us around when he lived and worked up here and I was telling him about the new helicopters.
'Catherine then said how much George loved them. He knows all the different colours and asks her about all the parts. She laughed and said she tells George to ask Daddy as she has no idea.'
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