Sophie and Prince Edward welcomed their first children, Lady Louise Windsor, 17, in 2003.
In December 2007, their son, James Viscount Severn, 12, was born.
The young royals may be the grandchildren of the Queen but they often keep a low profile.
Sophie has spoken out on giving her children as normal a life as possible and stated she does not think they will become working royals.
Lady Louise and James will usually join the royals on important occasions such as Trooping the Colour and the Christmas Day royal service.
They will sometimes also join Sophie and Prince Edward for family days out.
Last year, they made a rare outing as they visited the Wild Place Project at Bristol Zoo.
The children also joined their parents for a beach clean in Portsmouth earlier this year.
During these outings, body language expert Darren Stanton commented on their relationships.
He suggested Sophie looks comfortable taking the lead in the family.
“In one picture, Sophie’s posture and stride are confident and dominant. It is clear that she is the matriarch,” Darren said.
“I think it’s clear from many of the pictures that Sophie is the strongest member of her family.”
“Even though she is aware that the moment has been caught by the camera, she is not phased.
“It is clear she is a very strong personality and does not care about the cameras snapping pictures.
“Sophie is a very strong and confident woman who seems unfazed and the most comfortable with the press being present.”
When Sophie is seen out, Darren explained her body language shows a confidence in her role as a royal and mother.