WATCH: Princess Charlotte does adorable first public curtsy for the Queen

One of the royal family's most well-known holiday traditions is their walk from Queen Elizabeth II's ancestral home in Sandringham to St Mary Magdalene church on Christmas Day.

And this year's walk was extra special, as Prince George and Princess Charlotte made their public debut, joining their parents on the famous walk for the first time.

But it was four-year-old Charlotte who stole the show as she left St Mary Magdalene Church.

When the service was over, the young Princess walked out alongside the rest of her family to wave goodbye to Her Majesty, who left the service in a car. 

Impressing onlookers with her royal etiquette, when the Duchess of Cambridge gave her mother-in-law a dutiful curtsy, Charlotte followed suit with the cutest little curtsy to her great-grandmother.

After the sweet moment, the royal youngster greeted well-wishers waiting outside the premises of the chapel.

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Wrapped up in a warm festive emerald green coat, Charlotte walked over to meet the waiting crowd and even gave a few hugs to royal fans who had gathered to catch a glimpse of the family.

Charlotte was given a few fun presents, including a bright pink inflatable flamingo, flowers and a doll dressed in white.

Prince William first did the Christmas walk with his mother Princess Diana at Windsor Chapel in 1987, at age five.

Prince Harry joined the next year in Sandringham at age four.

This year the Duke and Duchess of Sussex and baby Archie skipped Christmas at Sandringham to spend the holidays with Meghan's mother, Doria Ragland in Canada.