Wearing sunglasses and a dark-coloured suit, she greeted various dignitaries, including Mayor of Whitby Steve Smith and the Bishop of Whitby, the Rt Rev Robert Ladds.

During the ceremony, the Duchess unveiled a bronze bust of Whitby's most celebrated lifeboatman, Henry Freeman, which takes pride of place outside the new boathouse.

She then formally opened the lifeboat station and named the new inshore lifeboat, OEM Stone III.

Addressing the crowd, the Duchess said: "I am very, very proud to be back in Whitby, which is one of the most beautiful places where my father used to bring me when I was a child.

"I am honoured and proud to be back here again."

Thank you so much for inviting me.

“It is my honour and enormous privilege to open Whitby Lifeboat Station.”

The Duchess of Kent has a long affiliation with the RNLI in Whitby, having named the lifeboat station’s last three lifeboats.

Whitby’s new lifeboat station became operational last month and was built on the site of the town’s old lifeboat station, which dated back to 1918 and was known to crew members as the old tin shed.

The new station is one of the most up to date RNLI facilities on the coast and includes an inshore lifeboat house, crew changing facilities, a training room and offices.

Before the Duchess of Kent arrived for the hour-long ceremony, the Marske Fishermen’s Choir kept the crowd entertained with a feast of maritime songs.

The new inshore lifeboat was handed over to Whitby RNLI by Margaret Gadsby, the niece of the late Olive Stone, who funded the boat.

Ms Gadsby spoke of her honour to be involved in the ceremony and said her aunt was proud of her association with the RNLI.

Michael Vlasto, RNLI operations director, accepted the boat on behalf of the institution and placed it in the care of Whitby Lifeboat Station.

He said: “This is a celebration of the endeavours of lifeboat crews in the past and of the courage and dedication of the lifeboat crews today.”

Roy Weatherill, Whitby Lifeboat operations manager, spoke of it being a proud and historic day for the town.

He said Whitby RNLI is one of the most decorated in the British Isles, but he also asked people to remember those lifeboatmen who have lost their lives trying to save others.

The Rt Rev Robert Ladds and the Canon David Smith, rector of Whitby, ran through several hymns and prayers before the boathouse and the new inshore lifeboat were officially blessed.

Following the ceremony, the Duchess and VIPs were given a tour of the boathouse and on Friday night there was a special gala event at Whitby Pavilion for 650 invited guests.