A few days after the pageantry of Prince Harry and Meghan Markle's wedding, Kate Middleton held daughter Princess Charlotte’s hand at the Houghton Horse Trials as the little royal enjoyed an ice cream and Prince George toured an air ambulance vehicle. The fun, relaxed day out typifies how Kate and William are raising their kids. "They have taken very hands-on parenting roles in an attempt to give their children as normal an upbringing as possible," royals expert James McCourt exclusively told Closer Weekly in the magazine's latest issue, on newsstands now.

That’s also true for how Kate, 36, and William, 35, are keeping their kids safe. As parents, they must balance their worries about real dangers — a terrorist recently called for an attack against George — with raising their kids to feel secure. It’s not easy to navigate. "I’m a lot more emotional than I used to be," William has admitted. "You get affected by things that happen around the world a lot more, as a father."

Kate, too, has acknowledged worries, but she’s drawing on a sense of strength instilled in her from her own youth. "My parents… provided me with a secure childhood where I always knew I was loved, valued, and listened to," she said. That’s what she and William are trying to give their children, despite the security concerns, and they’re doing it in specific ways.

After the recent threat, the couple "upped their security team," an insider told Closer. Three to five plainclothes guards accompany Kate and the kids whenever they leave Kensington Palace and "are all expertly trained armed officers." To keep George, 4, Charlotte, 3, and baby Prince Louis from becoming anxious, said psychologist Julie Armstrong, "The most important thing Kate and William can do is keep the threats away from the child’s awareness… [and] not share their worries with the child." A specially assigned security guard, she explained, "becomes like part of the family."

View this post on Instagram

The Duke and Duchess of Cambridge are pleased to share a new photograph of their family. The image features on Their Royal Highnesses' Christmas card this year. The photograph shows The Duke and Duchess of Cambridge with their two children at Kensington Palace. It was taken earlier this year by @chrisjacksongetty Their Royal Highnesses have also announced this morning that Princess Charlotte will attend the Willcocks Nursery School in London from January 2018. The Willcocks Nursery School has said: "We are delighted that The Duke and Duchess of Cambridge have chosen the Willcocks Nursery School for Princess Charlotte. We look forward to welcoming Charlotte to our nursery in January."

A post shared by Kensington Palace (@kensingtonroyal) on

Kate and William also had a wall of conifer trees planted outside Kensington Palace to shield the kids from prying eyes. And Kate’s taken a number of the official photos of her children, "meaning Kate owns the copyright so the images can’t be reused on souvenirs," McCourt said.

Security has increased at George’s day school, too, but he and his sister will continue to attend. "George and Charlotte have playdates with friends," the insider said. "And they’re allowed to go to birthday parties when security is with them."

Most importantly, Kate and Willam refuse to live, or raise their children, in fear. Kate still takes the kids to popular spots like the dinosaur gallery at the Natural History Museum. And for Queen Elizabeth’s birthday parade on June 9, "It’s business as usual," McCourt said. "Prince George will appear with the rest of the family." Baby Louis has extra reason to feel safe. "Charlotte is said to be mad about her younger brother," McCourt added. "She won’t leave his side."

For more on your favorite stars, pick up the latest issue of Closer Weekly, on newsstands now — and be sure to sign up for our newsletter for exclusive news!

Join our Facebook group for the latest updates on Kate Middleton, Prince William, and all things royal!