The conversation focused on the generation's ongoing contributions to the nation.
WATCH NOW: Prince William and Princess Kate learn about Windrush generation in Cardiff today
To meet with various organisations, the couple travelled to the Grange Pavilion community complex in Cardiff.
The Windrush Cymru Elders organisation was founded in 2017 to discuss ethnic minority elders' issues and requirements, while also honouring their generation's achievements in Wales.
Founder of the Windrush Cymru Elders, Roma Taylor, 79, was first in a long queue of women lining up for a hug from the prince.
William apologised and said: “I’m very sorry – a lot of chatting going on next door, hugging as well.”
Prince William and Princess Kate stepped out in Cardiff today
Prince William and Princess Kate learned about the Windrush generation today
The prince and his wife spoke to youth groups at the community centre after meeting the Windrush elders today.
They also took a group photo, during which the prince's bottom-pinching joke took place.
In addition, William and Kates spoke with members of a youth advisory panel made up of 11 to 25-year-olds who wish to advocate for and effect change for young people in Wales from minority ethnic groups.
The prince and princess were informed of the elders' firsthand knowledge and their services to the nation, which the King has long supported.
The Prince and Princess of Wales met with Windrush elders
Princess of Wales with Windrush Cymru Elders organisation
King Charles previously stated that he thought it was vitally important to acknowledge and commemorate the enormous contribution that the Windrush generation and their descendants have made since arriving from the Caribbean more than 70 years ago.
He unveiled 10 pictures of members of the Windrush generation in June at Buckingham Palace.
The monarch stated that they represent his wish for Britain to always "embrace difference".