The ceremony took place at the Island of Ireland Peace Park, where The Duke was joined by Irish Taoiseach Enda Kenny and Princess Astrid of Belgium, for the commemoration.
The Battle of Messines Ridge, which was fought 7-14 June 1917, has a particular and symbolic significance for Ireland and Northern Ireland. It was the first time that the 16th (Irish) and 36th (Ulster) Divisions fought alongside each other during the First World War.
The ceremony included an Act of Remembrance, readings by members of the Royal Irish Regiment and the Irish Defence Forces, and musical interludes performed by the Royal Band of the Belgian Navy.
After the Service, The Duke laid a wreath at the foot of the Round Tower in the Peace Park, before meeting guests, including descendants of those who fought at the battle.
The Duke then travelled to the Commonwealth War Graves Commission cemetery at Wytschaete, where over 1,000 servicemen of the First World War are buried or commemorated.
At the 16th Irish Division Memorial Cross The Duke and Taoiseach paid their respects at a small ceremony and reflected on the shared history between the United Kingdom and Ireland.
Before departing The Duke witnessed the Field of Flanders soil ceremony, where Belgian children exchanged soil with children from Ireland and Northern Ireland to promote peace.