Prince William enjoyed a visit to Cornwall and the Isles of Scilly last week – but admitted that his wife and children would be “upset” with one move.

Prince William admits that he “upset” his wife, the Princess of Wales and their three children with one move last week.

The Prince of Wales stepped out for a visit to Cornwall and the Isles of Scilly last week, adding that his family were “upset I’m here without them”.

Prince George, 10, Princess Charlotte, nine, and six-year-old Prince Louis did not join their father on his royal engagement, while Princess Kate continues to undergo cancer treatment.

Hailing the “glorious” weather during the visit, William said: “My family are very upset I’m here without them. The children will kill me if I don’t go home later.”

William, who is also known locally as the Duke of Cornwall, arrived in St Mary’s by boat and couldn’t help but treat himself to a bite to eat from On the Quay cafe.

Assuring the servers that they weren’t “all for me”, William bought five traditional pastries for £5.50 each.

The visit marked William’s first trip since his wife’s cancer diagnosis was revealed back in March.

On March 22, the Princess of Wales shared that she was undergoing preventative chemotherapy after post-operative tests revealed an undisclosed form of cancer.

William also took time away from royal duties to care for their young children.

William admitted that his family wished they could join him on his visit (Image: PA)

During his two-day tour, William reassured royal fans about his wife’s condition, stating that she is “doing well”.

Upon a visit to St Mary’s Community Hospital on the Isles of Scilly, William added that George, Charlotte and Louis were “very jealous” of his trip, adding that he may bring them to Cornwall later this year.

According to the BBC, Tracy Smith – an administrator at St Mary’s who hosted William’s tour of the medical centre said: “I asked William about his wife Kate and he said: ‘She’s doing well, thanks’.

“And I suggested they might like to come for a visit and bring the children.”

William visited the Isles of Scilly last week (Image: GETTY)

Today (Monday, May 13), the Prince of Wales stepped out for a joint engagement with his father, King Charles.

William is now the Colonel-in-Chief of the Army Air Corps, a role that the King has held for 31 years.

The 41-year-old’s new role is seen as a snub towards his younger brother – as Army Air Corps is Harry’s old regiment that he toured Afghanistan with.