Updated: December 10, 2018 3:01 PM ET | Originally published: April 28, 2017 10:33 AM EDT

After six years together, Prince William and Kate Middleton — also known as the heir to the throne of England and the Duchess of Cambridge — have made headlines countless times. Over the course of their much-photographed marriage, the lockstep couple have proved to be a paragon of royal perfection, from Kate’s cool under pressure to Will’s diplomatic charm. And let’s not forget about the kids: Prince George, Princess Charlotte and Prince Louis have proved endlessly photogenic, which is about all you can ask of toddlers in the public eye. But despite the picture-perfect appearance of this family, there have been plenty of times they’ve proved themselves to be pleasantly relatable to the rest of of us plebeians.

Write to Raisa Bruner at raisa.bruner@time.com.

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