Security was stepped up for the royal visit, but the monument of love was open to public.
William and Kate are on a week-long tour to India from April 10, their first official visit to the country.
They travelled to Mumbai, Delhi and Kaziranga National Park in Assam.
The royal couple also flew to Bhutan on an invitation from King Jigme Khesar Namgyel Wangchuck. From Agra, they will fly back to Delhi.
To mark the royal couples trip, the Sheroes Hangout café, run by acid attack survivors, is serving a special coffee to customers.
In 961, the Duke’s grandparents, Queen Elizabeth II and Prince Phillip, visited the Taj Mahal.
William’s mother Lady Diana visited the historic monument in 1992.
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