Prince George and Princess Charlotte accompany Kate to horse trials

The Duchess of Cambridge, née Kate Middleton, treated her children Prince George and Princess Charlotte to a fun family day out over the weekend. The 34-year-old took the youngsters to a special event near Amner Hall, their Norfolk home - the Houghton Hall International Horse Trials.

The royals were spotted cheering on the competitors in the crowd, with onlookers telling regional newspaper Lynn News, that they "looked very relaxed and were obviously enjoying themselves".

TAP TO VIEW GALLERYCambridge family portrait Kate took Prince George and Princess Charlotte to watch some horse trials

Prince William and Kate are friends with Lord Cholmondeley, who owns Houghton Hall, as well as horse rider Harry Meade, who was participating in the competition. The four-day event saw hundreds of horses and riders compete, while a charity cricket match was also hosted on Saturday to raise money for Walking with the Wounded.

The Duchess' outing with her two children comes just days after she was spotted bonding with George and Charlotte in the gardens of Kensington Palace, just a few minutes' walk from her London base Apartment 1A. The friendly royal waved to passers-by as she enjoyed a sunny stroll through the picturesque gardens, making the most of some private time with her children before attending the Chelsea Flower Show alongside Prince William that afternoon.

Split image of Prince George and Princess Charlotte The family were said to have appeared "very relaxed" at the event

While making their joint debut at the event, onlookers were thrilled to hear William and Kate call each other by their nicknames "darling". Designer Mick Conway noted how the couple, who were joined by Prince Harry, affectionately addressed each other.

"They seemed very interested in the garden," said Mick. "William in particular, he said, 'This for me is gold by far.' He also asked what this plant was (pointing to a Buxus) and Kate said to him, 'Darling, we've got that.'"

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