Stephen Leckie, Lord-Lieutenant of Perth and Kinross, accompanied The Duke in an Aston Martin DB6 Mk2, while his wife, Fiona Leckie, accompanied Prince Michael in a Sunbeam Alpine Roadster.
The Duke officially started Drive It Day, leading the convoy from Perth towards Loch Tay.
Stephen Leckie said: “I have been a collector of classic cars for many years and relished the opportunity to accompany HRH The Duke and HRH Prince Michael to this fantastic local event in my role as Lord-Lieutenant, which is also a passion of mine.
“The tour route showcases some of the spectacular scenery we are so lucky to enjoy in Scotland. The Duke and Prince Michael were wonderful guests.”
The event, which is organised by the Rotary Clubs of Perth and includes Crieff Hydro Family of Hotels as one of its sponsors, saw around 100 classic cars take part. The main convoy stopped for lunch at Isles of Glencoe hotel before arriving at Crieff Hydro Hotel for a dinner and awards ceremony.