The couple presented gifts at the geronotology service at Monte Carlo's Princess Grace Hospital.
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One lady was very taken with South African-born Charlene and cosied up alongside her for the photographers.
Albert and Charlene, who married in 2011, were all smiles as they interacted with attendees and gave them their presents.
The pair later attended a mass in memory of the late Nelson Mandela at Monaco's Cathedral.
Shortly after his death the couple said the anti-apartheid leader was "an example, a symbol of reconciliation, a great man who, through his courage, selflessness and generosity, was able to change the course of history and make his life a fight for justice and respect for human dignity".
On Tuesday evening Albert and Charlene's great nephew was born. Gucci model Charlotte welcomed her first child, named Raphael.
The couple returned to the Princess Grace Hospital on Wednesday morning to meet the newest member of the Grimaldi family.