George, Charlotte and Louis quiz Prince William about homelessness

During the insightful documentary, William, 42, revealed that his three children have quizzed him about the issue of homelessness.

He said: "When I was very small, my mother started talking about homelessness, much like I do now with my children on the school run.

"We saw people on the street. When you're that small you're just curious and you're trying to work out what's going on.

"You just ask the question like, well, why are they sitting there?

"And my mother would talk to us a bit about why they were there.

"And it definitely had a really big impact."

The Prince of Wales shares Prince George, Princess Charlotte, and Prince Louis, with his wife, Princess Kate.

The three Wales children all attend Lambrook School near their home, Adelaide Cottage, in Windsor.

Prince William was asked when he felt it would be the right time to discuss homelessness with his children.

"I am probably already doing it on the school run," Prince William said.

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"The first few times I thought 'Do I bring this up or should I wait to see if they notice?' Sure enough, they did.

"They were sort of in silence when I said what was going on.

"I do think it is really important that you start these conversations when the children are small so they understand the world around them, rather than just living in their own worlds."