By Erin Hill / People
October 1, 2015

Prince Harry and Prince William have devoted their lives to causes that touch their hearts – a lasting legacy their mother Princess Diana left behind.

While embarking on a 17-mile trek for Walking With The Wounded‘s Walk of Britain, Harry spoke to reporters about the inspiration behind his charity work.

“It’s something that our mother did a lot of and that’s the time that you really get to learn, you get the experiences and you actually get the honest truth out of people,” Harry, 31, told The Mirror.

The royal, who is also bringing his Invictus Games for wounded warriors to Orlando in May, has made it his mission to support his fellow veterans since leaving the Army earlier this year.

“I thought, ‘Hang on, I’ve spent 10 years in the Army doing something that I really love, being hidden away from the limelight. Time to give back,’ ” he told the news outlet.

“And actually suddenly realized I can now be the perfect spokesperson for these guys,” he continued. “I know what they’ve been through.”

The royal, 31, also spoke to PEOPLE during his walk, expressing his appreciation for the public support he had encountered during the event.

“The support has been amazing,” he told PEOPLE. “People come out to give money, and then when they hear what it’s for they put another £20 in.”

Harry’s ability to emphasize with others is a quality he shares with his late mother, who was a patron of over 100 charities and worked on behalf of the homeless and disabled, as well as children and adults with HIV/AIDS.

William has also shown the same spirit of giving. Earlier this month, the royal, 33, tackled bullying in schools for a charity in his late mother’s name.

This article originally appeared on People.com

Contact us at editors@time.com.

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