Juggling work and family life is a struggle for the vast majority of parents - including royalty.
As a mum to three young children, the Duchess of Cambridge has her hands full making sure Prince George, Princess Charlotte and Prince Louis are looked after and happy as well as carrying out royal duties
She is known to be a very hands-on mum - despite having staff including a nanny to lend a hand.
But in a chat with I'm a Celeb winner and podcaster Giovanna Fletcher, Kate opened up and revealed her constant feelings of guilt when it comes to being a mum.
And she recalled one incident of feeling guilt on Giovanna's podcast Happy Mum, Happy Baby when she was unable to take Charlotte to school.
When asked if she feels mum guilt, Kate admitted: "Yes absolutely - and anyone who doesn't as a mother is actually lying.
"Yep - all the time, even this morning, coming to the nursery visit here - George and Charlotte were like 'Mummy how could you possibly not be dropping us off at school this morning?'
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"It's a constant challenge - you hear it time after time from mums, even mums who aren't necessarily working and aren't pulled in the directions of having to juggle work life and family life."
She also says she sometimes feels guilty about the parenting decisions she makes.
She said: "[You're] always sort of questioning your own decisions and your own judgements and things like that, and I think that starts from the moment you have a baby."
Explaining how she deals with the guilt, she added: "The more people you have around your children who are safe and loving and caring, the better.
"So yeah - it was a real weight off my shoulders that actually it's not totally my responsibility to do everything, because you know we all have good days, bad days - and you can dilute that with others who aren't on that particular day struggling.
"I think it makes such a difference for your child, keeping them as constant and happy as possible."
And after making the admission, Giovanna herself praised Kate for her honesty telling Hello!: "Knowing that she has that too made me feel less alone about leaving my two-year-old who always wants me at home."
"Like with most people, as soon as they start talking about their kids, there's a softness, it's something that's such a part of you. She's definitely very, very hands-on and fills her kids' time with adventure."
