The Prince and Princess of Wales have shared a message in Welsh for the first time to celebrate St David’s Day.

Kate and Prince William visited Powys in Wales last week, making an unscheduled stop to meet well-wishers standing in heavy rain in the town of Llanidloes.

On Sunday (British time), Kensington Palace shared a special St David’s Day video message from William and Kate. It was recorded earlier this week on the Windsor estate.

In the message, which is spoken entirely in Welsh, Kate and William wear daffodils – the national flower of Wales – on their lapels.

“To everyone in Wales, a very Happy St David’s Day!” William says.

Kate then adds: “Wales is very close to our hearts, and we look forward to every visit.

“It is a beautiful country, with a rich history and wonderful people.

“Wishing you a day full of celebration with family and friends.”

The Princess of Wales greets children on last week’s visit to Wales. Photo: AAP

Last week, the couple went to The Hanging Gardens in Llanidloes, a community hub focused on resilience and creativity. They arrived to cheers from crowds who had gathered outside despite the rain, many waving Welsh flags and holding bunches of daffodils.

The couple ordered hot drinks at the cafe, with Kate having a cappuccino and William a cup of tea, before sitting down for a chat with people making festival signs in the Welsh language.

The royals also met three- and four-year-old children who were waiting for them with hand-drawn welcome signs.

At an adjoining market, William sampled a glass of cider before going into the kitchen where traditional Welsh stew cawl and Welsh cakes were being made ahead of St David’s Day.

This was due to be the end of their visit but after getting into their vehicle and being driven just a short way, the couple got out to meet well-wishers who had gathered in the rain.

They each held a black umbrella and spent 25 minutes in heavy rain, chatting to people including children who handed them bunches of flowers and pictures they had drawn. Kate gave high-fives and hugs, while both she and William posed for pictures and selfies with people.