Princes William and Prince at the inaugural Endeavour Fund Awards ceremony
The Duke of Cambridge and Harry remembered Henry Worsley, an SAS hero who died aged 55 in January last year in an expedition to raise money for the royals' Endeavour Fund.
The fund supports wounded, sick, and injured service men and women, using sport and adventurous challenges as part of their recovery and rehabilitation.
At the inaugural Endeavour Fund awards ceremony at the Royal Geographical Society in London, they presented a prize in Henry Worsley's memory and celebrated the achievements of other veterans.
Royals to salute late explorer Henry Worsley who died in charity trek
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William, 34, said: "Tonight, as we look back on everything that has been achieved, we must remember that a lot of these successes have been supported by the funds raised through Henry’s herculean efforts.
"The best way that we can thank Henry, the best way we can honour his memory is to create a legacy.
Max and Alicia Worsley awarded Neil Heritage with the special prize during the ceremony
"The award of a prize in his name, is but a small part of this legacy, a gesture offered to show how much Henry meant to us.
The best way that we can thank Henry, the best way we can honour his memory is to create a legacy
"A much more significant and meaningful legacy can be fulfilled by you; the community for whom Henry sacrificed so much."
Harry, 32, said the fund had helped 1,500 people since its inception in 2012.
The royal brothers were joined by Henry Worsley's widow, Joanna, 57, and children Max, 22, and Alicia, 20.
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William joined Max and Alicia to present the inaugural Henry Worsley Award to Neil Heritage, who in 2004, at the age of 24, became the first British soldier of the Iraq conflict to survive an above the knee double amputation after being blown up by a suicide bomber.
Told he would never walk again, the former corporal in the Royal Signals from Poole, Dorset, defied medical opinion to complete triathlons, learn to ski and row across the Atlantic Ocean unsupported in the inaugural Row2Recovery team/
The Awards was held at the Royal Geographical Society in London
He also founded Climb 2 Recovery, encouraging other wounded, injured and sick service personnel to take part in Alpine climbing. In 2016 he attempted to summit the Matterhorn, and will return to have another go in 2017.
William, who was patron of Henry Worsley's Shackleton Solo Expedition, attended a memorial service in London for the explorer in February last year.
It celebrates excellence through awarding prizes to outstanding individuals
The former Army Lieutenant Colonel, a Boy's Own hero fascinated since childhood by the exploits of Edwardian Antarctic explorers, was on a mission to retrace Sir Ernest Shackleton's ill-fated trans-Antarctic expedition 100 years earlier.
That trip ended in failure when his ship, Endurance, disintegrated in pack ice and the crew escaped in lifeboats, eventually reaching South Georgia.
Mr Worsley, a distant relative of Shackleton's skipper on the Endurance, Frank Worsley, was not so fortunate. He developed bacterial peritonitis and died in hospital in Punta Arenas, Chile, after being airlifted out of the Antarctic by a rescue team from Antarctic Logistics & Expeditions (ALE) 71 days into his mission and 30 miles from the end of his 900-mile trek.
Prince William and Kate visit Luton charity
Wed, August 24, 2016
The Duke and Duchess of Cambridge visit Youthscape charity in Luton.
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The Duke and Duchess of Cambridge arrive at Youthscape Charity in Luton
In his last audio message, he confessed he could no longer slide one ski in front of the other, pulling a sledge containing his food, tent, and equipment in temperatures as low as minus 42C. "My summit is just out of reach," he said.
"When my hero, Ernest Shackleton, was 97 miles from the South Pole on the morning of January 9 1909, he said he'd shot his bolt.
"Well today I have to inform you with some sadness that I too have shot my bolt."
Princes William and Harry speak to Joanna Worsley during the event
Mr Worsley, born in London on October 4, 1960, was the son of General Sir Richard Worsley. A keen cricketer at Stowe public school and for his regiment, he was commissioned into the Royal Green Jackets in 1980 after Sandhurst.
During a distinguished 36-year military career, he served in Northern Ireland, Bosnia, Kosovo, and Afghanistan and spent three spells with the SAS and other elements of Britain's special forces – in 1988-91, 1998-1999, and 2009-2013.