Kate Middleton and Prince William Share Rare Video of Life at Home with George, Charlotte and Louis

In 10 years, Kate Middleton and Prince William have gone from newlyweds to proud parents of three.

The royal couple celebrated their 10th wedding anniversary on Thursday by sharing a new home video of their children — Prince George, 7, Princess Charlotte, who turns 6 on Sunday, and Prince Louis, who celebrated his third birthday last week — enjoying family time. The footage, captured by Will Warr, was shot in autumn 2020 in Norfolk, where they have a country home.

The adorable video opens on the family of five walking up sand dunes on the beach. They are also seen running around — at one point, Prince William pops out of the trees to catch Princess Charlotte, much to the delight of Prince Louis!

While his younger siblings run around, Prince George smiles as he walks hand-in-hand with Kate.

Prince Louis and Princess Charlotte play on a seesaw before the family climbs a tree and roasts marshmallows on an open fire.

"Thank you to everyone for the kind messages on our wedding anniversary. We are enormously grateful for the 10 years of support we have received in our lives as a family," Kate, 39, and Prince William, 38, captioned the video on social media.

Listen below to the episode of our daily podcast PEOPLE Every Day as we look back at Prince William and Kate Middleton's wedding 10 years later.

They signed the personal note with "W&C," for William and Catherine.

Get the premiere issue of PEOPLE Royals for glamorous new photos and inside stories royals fans haven't seen or read elsewhere! Subscribe at peopleroyals.com/launch.

The video appears to have been shot at the same time the Cambridge crew posed for the photo they used as their 2020 Christmas card.

The Duke and Duchess of Cambridge also marked their 10th wedding anniversary with the release of two new portraits that were taken at Kensington Palace this week by photographer Chris Floyd.

In one, the couple holds hands as William gazes at Kate, who is radiant in a blue wrap dress.

In the other sweet shot, a smiling Kate cuddles up to William, leaning her head on his shoulder as the prince flashes a huge grin at the camera. The intimate photo is reminiscent of their 2010 engagement portrait.

PEOPLE's new special edition, William & Kate: 10 Joyous Years, is now on newsstands and available on Amazon.

Can't get enough of PEOPLE's Royals coverage? Sign up for our free Royals newsletter to get the latest updates on Kate Middleton, Meghan Markle and more!

After meeting in college as students at the University of St. Andrew's in Scotland, Kate and William walked down the aisle of Westminster Abbey in a fairy tale ceremony on April 29, 2011.