The Duchess of Cambridge is very close to her children, and is a hands on mum when it comes to bringing up the next generation of royals.
Unlike many members of The Firm before them, Kate and Prince William do most of the parenting themselves and only have one nanny to help them out.
But royal life comes with a lot of responsibilities and duties, and the couple are often forced to leave their kids to go out to work.
As well as official engagements, they also have to fly overseas for tours and visits.
In an extremely honest interview with Giovanna Fletcher, who is currently in the I'm a Celeb castle, Kate admits she struggles with mum guilt when she has to say goodbye to her children.
She also explained that there is one question that George and Charlotte ask that gets to her.
Speaking on the Happy Mum, Happy Baby podcast, she said she "absolutely" felt mum guilt.
She added: "Anyone who doesn't as a mother is actually lying.
"Yep - all the time, Even this morning, coming to the nursery visit here - George and Charlotte were like 'Mummy how could you possibly not be dropping us off as school this morning?'
"It's a constant challenge - you hear it time after time from mums, even mums who aren't necessarily working and aren't pulled in the directions of having to juggle work life and family life."
During the chat, Kate also admitted she sometimes feels guilty about the parenting decisions she makes.
She said: "[You're] always sort of questioning your own decisions and your own judgements and things like that, and I think that starts from the moment you have a baby."
She goes on to explain how she deals with the guilt, relaying something a "very wise man" told her.
She said: "The more people you have around your children who are safe and loving and caring, the better.
"So yeah - it was a real weight off my shoulders that actually it's not totally my responsibility to do everything, because you know we all have good days, bad days - and you can dilute that with others who aren't on that particular day struggling.
"I think it makes such a difference for your child, keeping them as constant and happy as possible."
