It has been 10 years since the Duke and Duchess of Cambridge got married in a lavish ceremony watched by billions of people at Westminster Abbey in April 2011, and during their decade together they have been a fixture of support and love through their domestic and royal life.

They have formed a solid family, participated in hundreds of engagements, backed many charities, traveled around the world on official missions and survived the ups and downs of royal life — including the scandals around their royal family — with admirable discretion and poise.

The wedding of Prince William and Catherine Middleton was led by the Archbishop of Canterbury and was attended by 1,900 guests, including foreign royal family members and heads of state. Well-wishers from around the world also flocked to London to witness the spectacle and pageantry of the Royal Wedding.

“The wedding was watched by 17.6 million people in the U.K. and two billion worldwide, including thousands of royal fans who travelled to London to try and get a glimpse of the couple on their special day,” the BBC recalled.

As the prince explained in a BBC documentary; “Me and Catherine, we support each other and we go through those moments together and we kind of evolve and learn together.’

Kate Middleton and Prince William, who are globally admired for their discretion, good sense and glamour, have three children: Prince George, who was born in July 2013, Princess Charlotte, who has just turned six and Prince Louis, who is three years old.

To mark their special anniversary, the Cambridges issued two new portraits taken by photographer Chris Floyd earlier this week outside Kensington Palace in which they appear happy and at ease.

The pictures were also posted on the Royal Family's social media accounts, along with a new video on their Instagram account thanking the public for their support and congratulations: “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. W & C”

The video shows the family of five enjoying time at the beach and at the grounds of their family home, Amner Hall in Norfolk, laughing, playing together and toasting marshmallows over an open fire.