Prince William and Kate Middleton traveled to Belize as part of their Caribbean tour on behalf of Queen Elizabeth, immersing themselves in the vibrant culture of Hopkins Village. As the rhythmic beat of traditional Garifuna music filled the air, the royal couple joined locals on the dance floor — laughing, clapping, and moving with unexpected flair. Then, in a moment no one saw coming, William gently twirled Kate under the warm Caribbean night sky and pulled her in close. The crowd erupted as the couple shared a tender kiss mid-dance, their connection palpable and unguarded. It was a royal moment both regal and real — a glimpse of love that transcended protocol

Prince William and Kate Middleton are shaking it off in Belize!

The Duke and Duchess of Cambridge showed off their dance moves during a trip to the beach-front village of Hopkins in Belize on Sunday as they continue their Caribbean tour on behalf of Queen Elizabeth’s Platinum Jubilee year.

While visiting Hopkins, the cultural center of the Garifuna community in Belize, the couple joined in the festivities, dancing the local “punta” and sampling the Hudutu broth-style meal as they immersed themselves in Garifuna culture.

William even busted out some impressive moves with a 57-year-old local woman, Laura Cacho.

“They are an amazing couple and we would love them to come any time with their children Charlotte, George and Louis,” Cacho, who helped host the visit, tells PEOPLE. “They really know how to dance. They took the culture from me and I didn’t need to teach them. They’re so good at it. They were excellent.”

Vkeveen Martinez, 15, one of the teens from the Light of Hopkins dance group who tempted the couple onto the floor, adds, “It was amazing. It was a lot to get a prince out to dance, and I held his hand.”

Martinez even asked William what it was like living in a castle.

He said ‘it’s tricky — my grandmother lives there,’ ” she shares.

And Kate told her that “she wants dance classes.”

Cynthia Ellis-Topsy, ambassador at large for the Garifuna nation, says she also encouraged the couple to dance.

“I said, ‘I’ll hold your hand and we will do it together.’ He did dance and it was beautiful. [Kate] was a bit nervous and she certainly appreciated the children,” she says. “We need to change the mindset and that’s best through the children.”