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.

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

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