William visited Dorney Lake in Buckinghamshire in his capacity as Commander-in-Chief of the Submarine Service and took on a rowing challenge with the HMS Oardacious crew.

He was greeted by co-founders Lieutenant Commander Callum Fraser and Lieutenant Commander Hugo Mitchell-Heggs, as well as Chief Petty Officer Jon Norfolk, who was part in the 2022 team - and Lieutenant Isobel Rawlinson, who is looking to captain an all-female team in 2024.

In a short YouTube film, he also spoke to the members about their achievements and the mental and physical struggles they've faced.

William was also asked if he was ready to start rowing, to which he replied: "The likelihood of me slapping someone else's oars is more likely that's going to happen."

'Everyone gets anxiety to various degrees'

They then discussed the mental challenge and psychological hurdles during rowing.

Commander Mitchell-Heggs said: "We focus so much on our physical health, but actually realising that psychological health is the same.

"Everyone gets anxiety to various degrees.

"So if you engage with it and have things in your back pocket to address those things one by one, you know you're in a much better place to achieve your potential."

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'Understanding our support networks is crucial'

HMS Oardacious was set up in 2019 to fundraise through submariners taking on the challenge of rowing across the Atlantic. It has so far raised £110,000.

In its mission statement, the organisation said its campaign has "always been about more than rowing oceans."

It added: "We continue to champion and fundraise for the wellbeing, mental health and welfare of all submariners, serving and retired, and their families."

In the video, William also said it is "crucial" to understand and support networks such as HMS Oardacious.

He added: "Understanding our support networks is crucial because a lot of people don't have those support networks and being able to form close bonds and realise that the only way we are going to get through all of this is to support each other and pull each other through."

A Kensington Palace spokesman said: "Together they discuss the importance of managing our mental health and how exercise can be used as a tool to help manage it.

"The crew also share their experiences of crossing the Atlantic, the challenges they faced and the impact it had on both their physical and mental health.

"Back in the boathouse, William hears from the crew in more depth about how they manage their mental health, the support they provide to each other as a team, and the work HMS Oardacious does to raise awareness and combat the stigma associated with talking about mental wellbeing."