Prince William and Kate Middleton usually maintain an air of formality during royal engagements, though that isn't always the case when their kids are around.Prince George, Princess Charlotte, and Prince Louis are increasingly accompanying their parents to events as they age, including royal engagements such as Trooping the Colour and less formal events like soccer and tennis matches.From waving to crowds from Buckingham Palace to giggling at royal engagements together, check out some of the best candid photos of William and Kate with their kids.

A tiny Prince George showed no signs of fear while staring down an Australian bilby with his parents in 2014.

Prince William, Kate Middleton, and Prince George visited Australia in 2014.

David Gray/AFP via Getty Images

George was less than a year old when he embarked on his first royal tour to New Zealand and Australia alongside his parents.Despite being so tiny, photos of him pulling funny faces at a bilby — a desert-dwelling marsupial — while visiting Sydney Zoo show he was anything but shy. George looked to be growling at the bilby while Kate and William smiled on.Vanity Fair reported that the bilby was actually named George after the young prince.