Princess Eugenie and Princess Beatrice were warned against "complaining and moaning" by their mother Sarah Ferguson.
The Duchess of York, 64, opened up about parenting her two daughters she shares with Prince Andrew, born in 1988 and 1990.
Fergie, as the duchess is affectionately known, wears a bracelet bearing the names of her daughters.
The 64-year-old explained how she instilled a sense of empathy and compassion in Beatrice, 35, and Eugenie, 34, from a young age.
Princess Eugenie and Princess Beatrice are Sarah Ferguson's daughters
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She said: "They were born to learn about charity, they were born to give."
Sarah shared how she taught Beatrice and Eugenie to think of others and appreciate their lives.
The duchess added: "[As children] if they were complaining and moaning, I'd put them outside in the freezing cold.
"Then they would complain and moan, and I'd say: 'Well, imagine what it's like if you're in the middle of nowhere with no coat and never can get a coat'. They soon stopped moaning.
Sarah Ferguson opened up about parenting her two daughters
Reuters“It was probably moaning at something like: 'Why are we watching Barbie and not watching something else', nothing serious."
Prince Andrew's ex-wife marked the girls’ 18th birthdays by taking them to a unit run by the Teenage Cancer Trust.
She continued to tell Hello!: "I wanted to teach them how to take the hand of a person who's dying."
Fergie made these comments during a recent visit to the Tikva orphanage in Bucharest.
Princess Beatrice and Princess Eugenie were born in 1988 and 1990 respectively
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Princess Eugenie, Princess Beatrice and Sarah Ferguson in 2004
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There, the 64-year-old met Jewish orphans who left the charity's children's home in war-torn Ukraine for Romania.
During the royal's visit to the orphanage, she shared a tearful moment with an older woman, Zinaida Loshpa, who was waiting to greet Sarah in the welcoming crowd.
The duchess recalled: "She said, 'I'm 77 years old and I don't have my home'.
"I said, 'But you came over here with your grandchildren and your daughters'…'Yes, yes, but I want to go home'. It was a very precious moment for me."