The Duke said he was impressed with his children's passion for music at such an early age.
"There's a lot of hip movements going along," he describes of the morning music sessions.
"There's a lot of dressing up. Charlotte, particularly, is running around the kitchen in her dresses and ballet stuff and everything."
William added that even his youngest child Prince Louis, who is three-years-old, loves joining in the sound-filled fun.
"[Charlotte] goes completely crazy with Louis following her around trying to do the same thing. It's a really happy moment where the children just enjoy dancing, messing around and singing."
In another sweet anecdote, William revealed Charlotte loves Columbian singer Shakira—with her song Waka Waka (This Time For Africa) a personal favourite.
William concluded with a beautiful early memory that exemplified his family's love of music—including his mum Princess Diana.
He recalled driving in the car with his mum listening to their old favourite tune, Tina Turner's The Best: "[She'd be] singing at the top of her voice. And we'd even get the policeman in the car, he'd be occasionally singing along, as well.
"You'd be singing and listening to the music right the way out into the gates of school, when they dropped you off... When I listen to it now, it takes me back to those car rides and brings back lots of memories of my mother."