Charlotte nails her first curtsy to the Queen

Princess Charlotte nailed her first public curtsy to the Queen as the royal family attended mass on Christmas day.

Charlotte, four, and her older brother Prince George, six, seemed excited to join their parents at the royal family's Christmas Day church service for the first time this year.

The little princess stole the show, grinning and hugging royal fans who lined the path outside the church, but it was her adorable curtsy to the Queen that really stole our hearts.

Standing on the steps of St Mary Magdalene Church in Sandringham, Charlotte looked serious as she geared up for the big moment.

She stood between her parents, Prince William and Kate Middleton, and held her mum's hand as she waited for her cue.

The moment arrived as Her Majesty stepped into a car to be driven back to her Sandringham Estate, where the royals would continue their Christmas festivities.

Leading the way for her daughter, mum Kate Middleton curtsied first, then it was the little princess' turn – and boy did she nail it.

Charlotte deftly bent her left knee back and curtsied as she lifted the hem of her green coat in her right hand, performing a brilliant first-time curtsy.

Seconds later, mum Kate ducked down to whisper something in the little royal's ear, before Charlotte turned to shake hands with a clergyman from the church.

She then joined her mum as they spoke with members of the public waiting outside the church, accepting a few hugs and gifts as she greeted well-wishers.

Despite her age, Charlotte is already turning into a poised young lady, though her mischievous personality still peeks through in her cheeky grins.

Charlotte's first public curtsy was in 2017, when the princess was just two-years-old, and she curtsied sweetly to Polish dignitaries during the Cambridge's royal tour of Poland and Germany.

But this is the first time we've seen her curtsy to the Queen, performing the move perfectly to her granny at Christmas.