The Duke and Duchess of Cambridge have released a video of themselves enjoying time outdoors with their three children.

The 39-second clip, posted on their official Twitter account, shows the family at their Norfolk residence, Anmer Hall, and on sand dunes at a nearby beach.

The couple are celebrating their 10th wedding anniversary.

In a tweet accompanying the clip, which was created by filmmaker Will Warr, William and Kate thanked those who had sent “kind messages” to mark the milestone.

The personal message, signed W&C, said: “Thank you to everyone for the kind messages on our wedding anniversary.

“We are enormously grateful for the 10 years of support we have received in our lives as a family.”

The video offers a rare glimpse into the Cambridges’ family life.

At one point, it shows the royal couple sharing a joke with their youngest son, Prince Louis, while at another the whole family are seen toasting marshmallows over a bonfire.

The family look happy in each other’s company, with both the duke and duchess shown chasing, playing and holding hands with their children.

Earlier, the royal family offered their congratulations to the couple on their anniversary.

A message on the monarchy’s official social media accounts marking William and Kate’s milestone decade of marriage said: “Wishing The Duke and Duchess of Cambridge a very happy wedding anniversary.

“Today marks ten years since Their Royal Highnesses exchanged vows at Westminster Abbey.”

The Cambridges released two tender portraits to mark the occasion on Thursday, with the royal family also sharing throwback images of the couple’s wedding day on Instagram.

The Prince of Wales and the Duchess of Cornwall’s official Twitter account posted a congratulatory message as well, complete with a party popper emoji.

The new pictures – taken at Kensington Palace earlier this week by photographer Chris Floyd – capture William and Kate smiling and in a relaxed mood.

The couple are seen cuddling each other in one shot while William stares intently at his beaming wife in the other.

Kate has now spent a decade as a fully signed up member of the royal family, an HRH, a duchess and a future queen.

They are wearing complementary blue outfits in the anniversary photographs.

William is in a denim shirt that is peeping up beneath a crew neck jumper and navy chinos.

Kate is sporting a mid-blue dress that is crossed at the waist and has frills at the cuffs.

Second-in-line to the throne William married his former university flatmate Kate Middleton, who hailed from a wealthy middle-class background, in the central London abbey on April 29 2011 after an eight-year relationship.

Ten years on, the couple have three children, seven-year-old Prince George, Princess Charlotte, five, and three-year-old Prince Louis.

Kate, in her role as a senior royal, has focused her charity work on early years, young people’s mental health, the visual arts and promoting the benefits of outdoor life.

During the Covid-19 crisis, the Cambridges have been supporting key workers and frontline NHS staff with video calls and face-to-face engagements when permitted, and promoting the vaccine drive.

They also became joint patrons of NHS Charities Together.

The traditional gift on a 10th wedding anniversary is tin, symbolising strength and durability.

The Cambridges have faced personal challenges over the past year, dealing with the fallout from Megxit, William’s rift with his brother Harry, and the Sussexes’ bombshell Oprah interview.

The Sussexes plunged the monarchy into crisis weeks ago when they accused the royal family of racism and the institution of failing to support Meghan when she was suicidal.

Kate was publicly singled out by Meghan as having made her cry in the run-up to her 2018 wedding in a disagreement over flower girl dresses.

The Cambridges’ anniversary is a moment of joy during a period of great sorrow for the royal family, who are grieving for the Duke of Edinburgh, who died earlier this month at the age of 99.

It is understood the Duke and Duchess of Sussex offered their congratulations privately to the couple.