The store showcased the Community Food Connection scheme, which is run in conjunction with food charity FareShare.
They spoke with customers about how the scheme works to provide free surplus food. While they also looked to encourage even more charities and community groups to sign up.
The third local group who are also currently benefiting from the scheme is Leven Charity Pre-school.
The Community Food Connection scheme ensures that every Tesco store in the UK is able to donate surplus food at the end of the day to charities and community groups.
It uses an app developed by social enterprise FoodCloud, to notify groups each night about the food available for collection.
Today, more than 7,000 groups are able to pick up free food from their local Tesco store. Since the scheme began, Tesco has donated more than 36 million meals to those groups. That means the retail giant is donating more than a million meals a month.
The Beverley Superstore alone has donated 52,847 meals to date.