The princess, who is patron of the Rugby Football League, also met with youngsters from Wakefield’s Inspiring Futures programme, which supports those who are at risk of anti-social behaviour and youth crime.
At the end of her visit, she was gifted a Wakefield Trinity shirt as a memento.
England player and Wakefield captain Mike McMeeken said: “It was great to meet Her Royal Highness and to chat about Wakefield Trinity and all the great things the club and the foundation do.
“She was really keen to hear about the club both on and off the field and now she has a Wakefield Trinity shirt, she is an honorary member of the club.”
For her final engagement of the day, the princess joined Mind Over Mountains, a charity offering professional mental health support through therapeutic outdoor experiences, for a supported well-being walk in the Peak District.
Additional reporting by PA Media.