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Stewarts & Hamiltons Sneak Peek: Watch Kimberly Stewart Bond with Kids in Haiti

07/29/2015 AT 01:40 PM EDT

Emotions are running high as Kimberly Stewart arrives in Haiti for a charity trip on the next episode of Stewarts & Hamiltons, and PEOPLE has the exclusive first look.

Stewart, 35, is seen surrounded by children and holding a little girl wearing a pretty blue dress.

"I have a daughter that's 4, she always dresses like this. Is this your princess dress?" Stewart asks. "My daughter calls them her princess dresses."

Stewart and Benicio del Toro, 48, are parents to Delilah Genoveva, 4.



"I have a child now and my emotions are heightened," says Stewart, holding back tears. "It's just, it's really sad to think that these kids, they don't have anything."

The show follows actor George Hamilton, his sons, musician Ashley Hamilton and George Hamilton Jr., as well as Hamilton's ex-wife Alana Stewart and her two children with Rod Stewart – Kimberly and designer Sean Stewart.

See the full episode of Stewarts & Hamiltons Sunday at 9 p.m. ET on E!
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