On Tuesday, the entire Cambridge family, except Prince Louis, joined hundreds of mourners at Westminster Abbey in London, where Prince Philip's memorial service was held. As Kate Middleton held Princess Charlotte's hand and her husband Prince William entered the abbey holding Prince George's hand, Kate quietly told her daughter, "You can smile," according to the Daily Mail, which interviewed Jackie Press, a lip reader.

The funeral came nearly a year after the death of Prince Philip, who died last April at the age of 99. According to the Independent, the Queen was deeply involved in the overall planning of the service and was "determined" to attend despite her mobility problems over the past several months. The Queen wore a brooch given to her by her late husband.

In a photo of the Cambridge family entering Westminster Abbey - Kate smiling and greeting onlookers while the children have somber expressions on their faces - we see Kate reminding her daughter that even in such a sad occasion, it is appropriate to smile at the attendees and photographers moments:

This is another example of Kate's refreshingly modern approach to parenting royal children.