Kate and Princess Charlotte curtsied to King Charles in a sweet moment during a Coronation rehearsal.
The clip was part of a wider documentary, Charles III: A Coronation Year, which aired on Boxing Day.
The programme gave an inside view into the months, weeks and days leading up to the Coronation on May 6.
During one scene, Prince William and Princess Kate brought their three children, Prince George, 10, Princess Charlotte, eight, and Prince Louis, five, to a practice session at Westminster Abbey.
Kate and Princess Charlotte at King Charles's Coronation
PA
The way the Waleses greeted the King was loved by royal viewers.
King Charles and Prince William, 41, said hello to each other first, kissing each other on both cheeks.
The monarch, 75, then embraced his daughter-in-law, 41, with a hug and kiss before Kate dipped into a quick curtsy.
King Charles then greeted his granddaughter Princess Charlotte in the same way.
The Waleses greeted King Charles with affection
PA
Charlotte followed her mother's example and also curtsied after their hug.
Prince George, 10, and Prince Louis, five, could be seen hugging their grandfather before bowing before him.
Prince William was also spotted brushing Prince George's hair off his forehead.
Richard Jackson, the Bishop of Hereford, said to the camera: "I think what struck me particularly is how extraordinarily affectionate they are.
Kate and Princess Charlotte on the Buckingham Palace balcony after the Coronation
PA
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King Charles leaving his Coronation ceremony at Westminster AbbeyPA"They're clearly a very close family, of all the generations, and in a sense, you felt you're part of a family occasion as well as, you know, a royal occasion and a national occasion."
He wrote: “The older generation maintained a nearly zero-tolerance prohibition on all physical contact.
“No hugs, no kisses, no pats. Now and then, maybe a light touching of cheeks… on special occasions.
“No matter how much you might love someone, you could never cross that chasm between, say, monarch and child. Or Heir and Spare.”