Prince William shares insight into tough conversations he is having with George, Charlotte and Louis

The two-part series, Prince William: We Can End Homelessness, showcases the first year of the royal's Homewards initiative, highlighting his personal connection to the cause.

Prince William is committed to continuing his mother's legacy by discussing homelessness with his own children.

The Prince of Wales is having conversations about the crisis with his young children, Prince George, 11, Princess Charlotte, 9, and Prince Louis, 6, in order to educate them on homelessness.

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

William, now 42, recalled his first visit to a homeless shelter at the age of 11, an experience that left a lasting impact on him.

Prince William's first visit to a homeless shelter occurred in December 1993, when Princess Diana took him and Prince Harry to The Passage, a charity supporting newly homeless individuals.

He said: "She took Harry and I both there. I must have been about 11, I think probably... Maybe 10. I'd never been to anything like that before.

"I remember at the time kind-of thinking, well if everyone has not got a home, they're all going to be really sad.

"But it was incredible how happy an environment it was."

The prince admitted to feeling personal guilt about the homelessness crisis in Britain.

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In the documentary, he said: "I've spent enough time learning and listening to what people have been through that I feel almost guilty every time I leave, that I'm not doing more to help."

He added: "The ultimate ambition is to prove that we can prevent homelessness in these regions so then others will come along and go 'well if they can do it, why can't we?'"

"I have slowly tried to work out what I can bring to the role of heir to the throne. What do I feel works? What do I feel people want to see from me?"