On arrival at Yulara airport after flying over the landmark formerly known as Ayers Rock, the Duke and Duchess of Cambridge were met by officials including traditional land owner Daisy Walkabout, who had also welcomed William's parents.
"We're happy to meet them, like we were happy to meet (Charles and Diana) in the past," Walkabout said.
"They've travelled a lot and now they will come to see this country, and it will be good to know they have seen Uluru, which is so hugely significant not just for a small group of people but a whole range of people that are related and connected to this place."
Kate, wearing a patterned sun-frock, looked relaxed for the trip with her husband, who ditched his suit for cream pants and a casual khaki shirt.
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William and Kate sat and watched as ochre-painted dancers performed, while Anangu sang and beat clapping sticks.
Earlier, the royals had presented tourism and hospitality graduates with certificates at the National Indigenous Training Academy.
"This is really great... We're touched they came so far to be here," said Francis Oba, 23, from the Torres Strait in Australia's far north.
The couple were then presented with several gifts including a two-metre mulga wood hunting spear -- bound in traditional fashion with kangaroo tendons -- and a hand-painted bracelet.
Chief Minister for the Northern Territory Adam Giles said "no holiday is complete" without a visit to Uluru.