The royal, who has a keen interest in fabrics and textile, asked lots of questions to the members of staff present.
In the quality control room, the princess met Harding, 44, who has worked for the business for 13 years and is the third generation of her family to work at the mill.
Her mother has worked there for 31 years and her grandmother was employed there for 33 years, retiring in 2012, at the age of 80.
As she tried her hand at mending a blanket, Catherine told Harding: “You make it look so easy – like a lot of things.”
“Its a labour of love in so many ways,” she added.
The royal tour continued to the sewing room where two sisters were working. There, the princess told them she had tried to do some sewing over the Christmas period, confessing: “I was very slow.”
The princess has visited a number of weaving mills and manufacturers over the past 12 months.
In January, she toured a tartan-weaving studio in Stirling, while last year she visited textile workshops in Carmarthenshire, Suffolk, Kent and County Tyrone.