She said they reminded her of Princess Charlotte – who will turn 1 on May 2 – and Prince George, 2.
Speaking at the Pan Bari village in Kaziranga National Park William spoke with the village elders, who asked him why the royal parents had not bought George or Charlotte.
Kate apparently replied, "Because George is too naughty. He would be running all over the place. The next time we come we will definitely bring them."
Kate, who was wearing a pink floral Topshop dress with black embroidery and her hair tied back in a neat bun, also revealed that seeing the village children, especially the young girls, had reminded her how much she missed her little princess.
The week-long tour of India and neighboring Bhutan is the longest she has been apart from her children for a prolonged period.
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The couple were offered a bench to sit on as they took off their shoes (Kate was in black wedges before entering the humble prayer hall, where they sat amid the scent of joss sticks on mats weaved from bamboo by local women. Surrounding them were villagers of all ages in traditional dress, including several young children and a nursing baby.
The visit was part of the couple's bid to understand the pressures facing communities and wildlife as they live side-by-side and elders told them how the community came to be living in such close proximity to the local elephant and rhino population.
They heard how the village was established in the 1970s after homes on the nearby Majuli Island, one of the biggest river islands in the world, were flooded through erosion and the changing course of the river.
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The flooding then had the knock on effect of causing the local elephant population to seek out higher ground, which resulted in them trampling through the community's paddy fields to get there.
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This caused the village to have to diversify, and it now grows tea rather than rice because the elephants bypass tea plantations as there is no water to drink there.
William, sitting cross-legged, asked, "How do the local people view the elephants and rhinos, are they considered sacred?" They were told the villagers "love" the elephants because they are happy to live alongside them.
The couple then met with members of the local community, shaking hands and bending down to greet children before being treated to a traditional dance performance, featuring a traditional drummer band.
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They were then driven the short distance to a typical home and tea plantation. At the house, which featured mud-daubed walls, they were greeted by Tilasha Das and his wife Utala, who knelt down and touched the couple's feet before they entered the premises.
On their two small plantations, the Das family produce up to 132 lbs. of tea per year. As the couple stood up to inspect the family's weaving loom, which according to local tradition is always placed at the front of the house, William joked: "Look at that goat just chilling out down there, wondering what is going on!"
William tried to sit next to Kate at the loom but couldn't because his legs were too long. Kate was then presented with a beautiful red scarf with multi-colored flowers that had bed especially woven for the occasion by Mrs. Das. "That is so special," said Kate, "Thank you very much and thank you to your family."
The couple were then taken on a quick tour of the plantation by Mrs. Das's cousin Morami, 31, who heartily embraced the Duchess and kissed her enthusiastically on both hands. Afterward she said: "I hugged her because I love her. I think she's very, very pretty. She acts like a simple girl, not a princess."