Prince William and Kate to visit the Queen at Balmoral with George and Charlotte

The Cambridge family will soon head out on their last trip of the summer as they take their children to Scotland to visit the Queen at Balmoral, Hello! understands. Prince William,Kate, Prince George and Princess Charlotte, two of whom are scheduled to embark on a royal tour of Canada this autumn, are enjoying some private family time before the busy season kicks off.

The Cambridges will be relaxing and catching up with the Queen and Prince Philip, who have spent the summer at their sprawling estate in the Scottish Highlands.

William, Kate, George and Charlotte are expected to stay for a week.

TAP TO VIEW GALLERYKate Middleton and Prince William William and Kate will take their brood to Balmoral to visit the Queen

The Duke and Duchess, both 34, are due to go on tour to Canada at the end of the month; it has not yet been confirmed whether George and Charlotte will join them.

The couple are perhaps using their downtime at Balmoral to swap anecdotes and stories with the Queen and Prince Philip. Canada remains one of Her Majesty's favourite destinations and she has visited the Commonwealth country over 20 times.

Balmoral Balmoral is believed to be the Queen's favourite royal residence

William and Kate will also be making the most of the fresh air and expansive grounds at Balmoral. It is believed to be the Queen's favourite royal residence and earlier this year William's cousin Princess Eugenie opened up about the monarch's fondness for the family estate.

"It's the most beautiful place on earth," Eugenie said during an appearance on ITV's Our Queen At Ninety. "I think Granny is the most happy there. I think she really, really loves the Highlands.

"Walks, picnics, dogs – a lot of dogs, there's always dogs – and people coming in and out all the time. It's a lovely base for Granny and Grandpa, for us to come and see them up there; where you just have room to breathe and run."

Princess Charlotte It's not yet known whether Charlotte and her brother George will join their parents on tour to Canada

In July, William and Kate took George and Charlotte on a family holiday to the south of France. It was their first summer holiday as a family-of-four and a welcome break to their jam-packed schedule of engagements.

The couple have since made a return to the royal circuit, visiting Luton and Cornwall on official duty in the past couple of weeks.

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