King Charles wants Prince George, Princess Charlotte and Prince Louis to avoid making "the same mistakes he made", a royal historian has claimed.
Chandrika Kaul, Professor of Modern History at St Andrews University, believes that the monarch wants his grandchildren to have the confidence to marry who they would like.
Charles and Camilla met decades before they tied the knot in 2005, and embarked on an affair while they were both still married.
Just weeks before her wedding, Princess Diana is said to have found a parcel in the office of one of Charles' employees, and opened it to discover a bracelet.
According to royal biographer Andrew Morton, it was engraved with the letters G and F, which stood for Gladys and Fred - the nicknames Charles and Camilla used for each other.
Appearing on Channel 5's documentary 'The Fab Five: The King's Grandchildren', Professor Kaul said: "I think King Charles is very keen that his grandchildren don't make the mistakes that I think he feels he made, particularly when it came to matters of the heart."
In 1994, Charles publicly admitted he had been unfaithful, saying it only happened after his marriage has "irretrievably broken down".
Public opinion of him changed immediately, and many started to question whether he was fit to take on the throne.
Professor Kaul added: "What I think he wants to do is try and help these young grandchildren grow up in as normal a way as possible and create more fully rounded human beings who are unafraid of their emotions and who are able to have the confidence to marry whom they want.
"And to have a happy, successful and fulfilled personal life."
Royal experts also discussed the differing personalities of the Wales' three children, and whether they were suited to take the throne.
The late Queen's former press secretary, Ailsa Anderson, said: "It appears to me that Princess Charlotte has no qualms at all about being in the spotlight on public events."
Simon Vigar, royal correspondent for 5News, commented: "I remember George being quite bossy but I think the dynamic's changed.
"Recently during public events, we've seen Charlotte taking charge and ordering George around."
The trio's last public appearance came earlier this month, when they all took part in the Big Help Out at 3rd Upton Scouts Hut in Slough.
They helped with tasks including resetting a path, digging a new soakaway, sanding and revarnishing the front door, adding planters to the front of the building and adding a mural.
The children set to work straight away with Charlotte and Louis helping to paint a planter and George joining his father with some drilling.
The two youngest children knelt down, grabbing brushes dripping with white masonry paint.
After noticing a splash of white in his hair, Charlotte told her brother: "You've got paint in your hair! Louis, look at me! Look at me!"
Meanwhile, Prince William and George both wielded drills on a wooden planter.
George, dressed in chinos, trainers and a puffer coat, was the picture of concentration as he placed a screw carefully into a hole and drilled it in.
Before they left it was time to toast some marshmallows, with Louis jokingly staggering around and rolling his head in delight.
The family then spent some time away from the media chatting with volunteers before a low-key departure.
