Prince William chatted and joked with the England squad during a visit to a training session and said he would be cheering them on during the World Cup.
Visiting in his capacity as the President of the Football Association, he met the squad at Manchester United's Carrington training ground.
Clarence House said it was a "private visit" for the prince to meet players.
William was treated to Peter Crouch's body-popping celebration. He burst out laughing and shook the player's hand.
The performance of robotic moves was given by the 6ft 7ins striker after being persuaded by other players.
He said he felt that he had no choice but to repeat his performance for the Prince.
"When the future King's asking to see it, I couldn't really turn him down to be honest so I had to throw the shapes in," said the striker.
"He seemed pretty pleased with it! I dunno, hopefully you're going to see it a good few more times."
The Liverpool player's trademark shuffle was first seen in public on Tuesday after he scored England's third goal in the victory over Hungary at Old Trafford.
Manager Sven-Goran Eriksson stopped the session preparing for England's final warm-up friendly against Jamaica on Saturday to introduce the players to their royal guest, who was relaxed and casually-dressed.
The prince spoke to injured striker Wayne Rooney
The prince arrived shortly after the session began and met injured striker Wayne Rooney who was watching his team-mates in action.
He also talked to young fans who had won a competition to watch the training session.
It is understood the prince left with the team on their England coach.
England's World Cup squad fly to Germany on Monday for the tournament which starts on Friday next week.
The prince will travel to Germany to support England in their opening World Cup game against Paraguay.
It will be the first England game for William since he became President of the FA.
Prior to the Paraguay match, the future king will meet England fans at the stadium in Frankfurt, along with local dignitaries and stadium officials.
And, later, he will meet the Minister President of Hesse, Roland Koch.