Firefighters were called to the Princess Royal's helicopter amid reports of smoke "billowing" from the aircraft during a visit to north Wales.
The princess and other passengers were evacuated from the helicopter as it was on the ground at Denbigh High School.
North Wales Fire Service said the incident appeared to involve an electrical fault in the starter motor.
The princess continued her journey by car, and arrived at her next engagement in Wrexham 30 minutes late.
The smoke had subsided by the time fire crews arrived at the scene.
The fire service said they were called to deal with reports of smoke at 1440 BST, and "after carrying out normal safety checks crews confirmed that the aircraft was safe".
Contingency plans
The princess was visiting nearby Denbigh Infirmary and a Buckingham Palace spokesman said she continued with her engagements.
The palace said the fire service was called as a precaution.
The princess was also in the area to perform the official opening of kitchen and bar equipment company IMC, which moved its headquarters to Wrexham Industrial Estate last year.
A spokesman for North Wales Police said: "As a result of what appeared to be a mechanical failure on the royal helicopter it was necessary to implement contingency plans to transport the princess from Denbigh to the other venue.
"Minimum disruption was caused to her schedule and her visit went ahead as planned."
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