Mr Mitchell said the Princess, who has been joint president of the Scouts since 2020, had been “very down to earth”, leading a challenge for the group to earn their naturalist badges.
He said: “She loved speaking to the scouts about what they get up to in their own time, what skills they’re learning, how they interact with nature and how much time they spend outside.
“She’s the one that presented them with the naturalist badge at the end of the day,” he added.
Mr Mitchell said the promotion of the scouting movement was “really important” for young people.
“They come in as really shy 10-year-olds and they leave as quite confident 14-year-olds with outdoor skills and also people skills.”