Kate took questions from eight girls, aged 11 to 14, about her life while visiting the Dame Kelly Holmes Trust in Bath.
She told them she had never thought about becoming a royal until she fell in love with Prince William.
And the princess said being a royal was something she had to learn, Dame Kelly revealed.
The double Olympic champion added: "Public speaking isn't a natural thing for lots of people, is it?
"And she was saying she is still working that out. She humanised everything. Not everyone is perfect." While Dame Kelly used the word "struggle", Kate used "challenging" Kensington Palace said.
The private chat came at Percy Community Centre in Bath after a team led by Kate lost a game of beanbag noughts and crosses with one captained by Dame Kelly.
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