The duchess was visiting Jewish Care’s Brenner Centre in Stepney, an area of east London once famous for its vibrant Jewish community, to celebrate its 80th anniversary.
When a singer began performing the traditional Jewish song Hava Nagila, Camilla joined a ring of dancing guests who all held hands before she linked arms with 86-year-old Abraham David and they spun around.
Mr David, from Shadwell, said: “It was a lovely, wonderful experience, I think I’m dreaming.
“She put her hand out to mine and wanted to dance – I couldn’t believe it. I won’t sleep tonight I’m so excited.”