Hill, who will also compete in the 100m backstroke and 50m freestyle, said leading Ireland off in the relay was “pretty special”.
“Swimmers become more than friends. They are more like family,” Hill said.
“It’s a really special occasion and we didn’t have any relays in Tokyo, so to have two here with family is special.”
Catterson, who was also making her Olympic debut, said it felt like the “stadium is on top of you” as she took in the atmosphere before her final leg.
“I’ve never witnessed any swim meet like this before,” said the 23-year-old.
“It’s just crazy. It’s hard to get too excited, but you do try and take it in.”