During her marriage to Prince William, the Princess of Wales has nailed her role as a leading Royal. With grace, poise and that down-to-earth charm, it's no surprise she's become one of the family's most adored members.

But turns out, Kate Middleton, 42, had a bit of a struggle adjusting to one part of Royal life, leaving her ripe for some good-natured ribbing from the family.

In a candid chat with the BBC during a tribute to the late Queen Elizabeth's 90th birthday eight years ago, Kate dished on her first solo outing with the Queen and dropped a royally endearing confession about her early days in the Royal Family.

"The most memorable engagement for me I suppose was an away day to Leicester and I went without William so I was rather apprehensive about that," Kate shared, reports the Mirror.

Kate has admitted she struggled with one aspect of Royal life
Kate has admitted she struggled with one aspect of Royal life

Apparently, there's more to walking the crowds than one might think, and this is where Kate confesses to having gotten some flack from the Royal Family.

She continued: "I think there is a real art to walkabouts, everyone teases me in the family that I spend far too long chatting so I think I've still got to learn a little bit more and pick up a few more tips I suppose."

The late Queen Elizabeth II is said to have loved a fish and chip takeaway
The late Queen Elizabeth II is said to have been a big support to Kate when she was alive

Yet, amidst all the teasing and learning, the Duchess remembers fondly the Queen's support during that outing. In recalling the Queen's kindness, she said: "She was very supportive. The fact she took the time to make sure that I was happy and looked after for that particular occasion, which probably in everything that she's doing is a very small element, which just shows how caring she is, really."

In a touching interview, Kate Middleton opened up about the late Queen's adorable relationship with Princess Charlotte, before her passing, saying: "It's very special us having a new little girl to the family. Very lucky that George has got a little sister."

Kate and William have been married for almost 14 years
Kate and William have been married for almost 14 years

She revealed the monarch's joy: "The Queen, she was really thrilled that it was a little girl and I think as soon as we came back here to Kensington [Palace] she was one of our first visitors here."

Kate also shared how the Queen showed her affection: "I think she's very fond of Charlotte, always watching what she's up to. George is only two and a half and calls her 'gan-gan.' She always leaves a little gift or something in their room when we go and stay and that just shows, I think, her love for her family."