Inside Princess Kate's Approach to Raising Her 'Live Wire' Toddler, Prince George

From the palace to the polo field, Princess Kate and son Prince George are breaking tradition and changing the Royal rules. Subscribe now for an inside look at their adorable adventures only in PEOPLE!

At nearly 2, Prince George has just one mode: go.

Princess Kate and Prince William 'Enjoying Family Time' at Home with the Kids

In their first days as parents of two, Prince William and Princess Kate have been quietly bonding with their children at home like any other family welcoming a new baby – except home is a palace and a visit from great-granny means a pop-in by the Queen herself.

Since arriving home on May 2 just hours after Princess Charlotte’s birth, the new family of four “have been enjoying nice, private family time,” a close palace source tells PEOPLE in this week’s cover story.

Prince Harry Will Be a 'Wonderful Uncle,' Says Family Friend

Prince Charles Is 'Thrilled' to Become a Grandfather

Prince Charles’s royal title can’t compare to one he will earn next year – grandfather – now that Kate and his son Prince William are expecting their first child.

“I’m thrilled,” he told reporters Thursday as he was boarding the HMS Belfast in London. “It’s a very nice thought to become a grandfather in my old age, if I can say so.”

Meanwhile, Charles says he is happy to see that Kate is recovering and out of the hospital.

Kate Leaves the Hospital After 4-Day Stay

With a smile and the briefest of comments that she is feeling “much better,” a fragile-looking Duchess of Cambridge left the hospital Thursday morning.

An expectant Kate walked out of King Edward VII hospital with husband William at around 10:45 a.m.

Prince William & Kate Bid Farewell After Asia Tour

And they’re off!

After an eventful nine-day journey that took them to Singapore, Malaysia and the Solomon Islands, William and Kate were waved off from their final stop, Tuvalu, on Wednesday.