William and Kate pose for rare selfie with Jamaican bobsleigh team

The Duke and Duchess of Cambridge are continuing their charm offensive in the Caribbean on the second leg of their royal tour for the Queen's Platinum Jubilee.

Prince William and Kate Middleton continued with their engagements in Trench Town after landing in Kingston on Tuesday amid anti-monarchy protests on the island and reports the government had 'already begun' paperwork to remove the Queen as head of state.

Hundreds of locals who turned out to meet the couple as they visited the birthplace of reggae music in the heart of Kingston.

READ MORE: Jamaican government has 'already begun' steps to remove Queen as country's head of state: report

The couple even put their usual "no selfie" rule aside to pose for a shot with members of the Jamaica Bobsleigh and Skeleton Federation, much to their delight.

Enjoying a Cool Runnings moment — a reference to the 1993 film of the same name about the first Jamaican Olympic bobsleigh team — the couple got into one of the history-making bobsleighs.

READ MORE: Prince William and Kate scuba dive with sharks during underwater adventure in Belize

"I had the honour of being introduced to the Duke and Duchess. It's great they came," Chris Stokes one of the men who competed at the 1988 Calgary Winter Olympics made famous in the movie, told reporters.

After the federation shared the image on its social media, the Duke and Duchess of Cambridge's account re-shared the image on an Instagram Story, captioning the image: "Selfie for the archives".

Both William and Kate were seen laughing as the Duchess appeared to make an impromptu decision to get into the back of the capsule, despite wearing a Willow Hilson Vintage dress.

The Duke spoke with members of the Winter Olympics team, who finished 28th in the recent Beijing Games, and was amazed to hear the bobsleighs can reach speeds of 150km/h.

The couple landed in Jamaica on Tuesday at Norman Manley International Airport in Kingston, the Duchess paying tribute to her host nation in a yellow Roksanda dress resembling the colour of the Jamaican flag.

They were met by members of the military before they went to Kings House to meet with the Governor-General of Jamaica, Sir Patrick Allen, and his wife, Lady Allen.

The royal couple were kept away from the protests as they arrived at the British High Commission.

It's understood the Cambridges are aware of the protesters, who want the royals to apologise for slavery and human rights abuse of their ancestors, with the Duke reportedly set to address the issue in his speech on Wednesday (Thursday AEDT).

The Duke and Duchess also met with Jamaican-born footballers, two of whom now play in the English Premier League - Manchester City's Raheem Sterling and Aston Villa's Leon Bailey.

When Prince William, who is president of the Football Association, met Sterling and Bailey, he reportedly said to his wife: "Two heroes of mine. These two are the fastest in the team".

Wills then got out on the field for a friendly game with local Trench Town players.

The couple also visited the Trench Town Culture Yard Museum, where they tried their hand at playing some drums.

The museum has been created in a home Bob Marley once lived in and the town is considered the birthplace of reggae music.

The couple's week-long tour continues in Jamaica before they head to the Bahamas.