'We're all safe': Kate jokes as she playfully squeezes William's thigh before heading out on rhino safari in Indian nature reserve 

As they set off into the wilds of India in search of tigers, rhinos and elephants, it was only natural to feel a little apprehensive.

Apart from a few roll bars on the jeep and a – hopefully – crack shot park ranger, there was very little between the future King and Queen and some of the most dangerous animals on the planet.

As they pulled away, Kate squeezed William's thigh and joked: 'We're all safe'. Both of them grinned, perhaps with a smidgen of anxiety.

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Anticipation: The Duke and Duchess of Cambridge prepare to head out on safari at the Kaziranga National Park in India

A Safari adventure! The Duke and Duchess of Cambridge were hoping for an encounter with rhinos and elephants as they set off on Safari this morning at the Kaziranga National Park in Assam on the fourth day of their week-long tour to Indian and Bhutan

Game for a laugh: William and Kate can't hide their excitement as they ride a jeep into the depths of Kaziranga National Park

Look over there! Prince William and the guide appear to be pointing out a passing creature to and excited Kate

It had been an early start for the couple as they began their day with an open-air Jeep ride around Kaziranga National Park in north-east India.

Kate, casual in £29.99 Zara trousers, Sebago boat shoes and a spotted RM WIlliams shirt, walked over to their freshly-polished Maruti Suzuki Gypsy 4x4 (chilled bottles of water and face cloths tucked into the seat pockets) with William, equally casually dressed in chinos and brown desert boots.

Joining them was a guard on a seat behind them, a driver and a ranger armed with a rifle loaded with tranquilliser ammunition.

Before the engines started, William and Kate put on their RayBan sunglasses and checked how to use their binoculars, sharing one between the pair of them.

The jeep behind them contained their private secretaries, Rebecca Deacon and Miguel Head, and two protection officers.

As the 4x4 got going, William quickly spotted a rhino mother and her baby wading in a marsh-like patch in the distance. 

'Oh wow,' gasped Kate. They both then took turns to look through their binoculars, William replacing his sunglasses with a pair of normal glasses to see better. 

Classic style: Kate adjusts her sunglasses to get a better view of the animals. Both she and her husband were sporting a black pair of Ray Ban shades, in the brand's classic Wayfarer style

Seeing the sights: The royal couple headed up a convoy of 4x4s as they were taken through the park with a guide

Would you look at that: Prince William appeared keen to point out the sights to his excited wife as they journeyed through the jungle

A wild encounter! This cheeky rhino blocked the royal procession's pathway as they made their way through the reserve

Kate and William were also lucky enough to see elephants. Their aides were concerned the photographers might scare off the wildlife

The next animal spotted was a large monitor lizard, which Kate seemed tickled by as she was giggling when it was pointed out to them.  

As they entered a forested area 30 minutes into the safari, Kate and William stood up in the car to get a better look around. Occasionally they would lean back and aak their guide questions about the wildlife.

Possibly the highlight of their Kaziranga trek was a huge rhino blocking the road ahead. 

The couple gasped as they caught sight of the huge animal just 50 yards away from them. 'This is amazing!' said Kate. 

'It's amazing to be this close,' William added, before a ranger called out loudly to scare it off the road.

After almost an hour of safari, the Duke and Duchess arrived at the Bimoli Anti-Poaching Camp in the centre of the park, where they were greeted by a group of rangers.

'It's been an incredible journey,' William said of their safari as he shook the hand of a young ranger.  

After brief introductions, the couple sat down in a circle by the river with the rangers and park staff and discussed the park's successful efforts at protecting animals from poachers.

Traffickers in South East Asia are marketing Indian rhino horn as 'fire horn' and claiming it has increased potency compared to African horn.

And while numbers of poached rhinos have decreased (17 rhinos poached in 2015, compared to 27 in 2014), the fight is far from over. 

Team photo: The royal couple pose for a photograph with smiling members of the forest guard inside the national park

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Learning on the job: William and Kate chat to forest officials about the park. One of the most important job the staff members do is protect the animals from poachers - a cause close to the prince's heart

Suitably attired: The Duke and Duchess were both dressed casually for their trip to the park this morning, and were keen to learn about life inside the reserve

A shared mission: The prince has long been interested in protecting animals and the environment, and was keen to talk to park staff about their work

Meet and greet: The prince shakes hands with forest officials, who looked excited to meet the royal during his trip to India

Friendly greeting: William grins as he chats to forest workers, while his wife looked excited to join him on the adventure

Park guard Mahanda Barman, 34, told the couple about the time he had a fight with a poacher after hearing gunshots by the river in the north side of the park.

'It can be dangerous,' he told William via a translator. 'That evening there was crossfire between poachers and my team here… The butcher ran off and was later found dead. We recovered rifles and ammo... These things happen a lot. It's a big problem.'

'You're all doing an incredibly important job,' William told Barman. 'I'm incredibly proud of everything you're doing.'  

Ranger Salim Ahmed, 46, had the royal couple speechless after telling them about his encounter with an angry rhino one evening. 'I was charged at in the evening,' he said. 'He hit me once but four of my fingers were broken, my arm and leg was broken too. I had to stay in hospital for 45 days.'

Despite the aggressive attack, Mr. Ahmed said that staff at the park never fire at animals. 'This is their home, we are their friends,' he said.

Kate seemed happy to discover that there are female rangers working at the park. 'That's really great,' she said. 'I was actually wondering if there were female rangers.'

After William drank a glass of water - though Kate declined - the pair thanked the rangers for their time and made their way back to the 4x4. 'It's a pleasure to be here in the park,' William said.

The final 30 minutes of their safari was a private moment for the couple as they travelled the final stretch without media and some of their protection officers.

Keen photographer Kate brought her own Canon DSLR camera on the trip to capture some of her own pictures. 

Royal safari: The Duke and Duchess of Cambridge get ready to leave for their jeep safari at Kaziranga National Park, in Assam, India, on day four of the Royal tour to India and Bhutan

Conservation: The Cambridge's visit Kaziranga National Park and are shown information about the work done at the park by their guides

All about the wilderness: The couple are informed about the sanctuary the park provides as it hosts two-thirds of the world's great one-horned rhinoceroses 

All about the wilderness: The couple are informed about the park which hosts two-thirds of the world's great one-horned rhinoceroses

Here we go: Prince William and his wife grin at one another as they prepare to set off on their safari at Kaziranga National Park

Later, the couple headed to a nearby local community, Pan Bari Village, where Kate revealed that was 'terribly missing' her own children after four days away.

She also said that seeing all the little girls dancing there reminded her of her daughter, Princess Charlotte and told another villager that she was 'feeling sad today' because she is missing her children.  

But the couple admitted that they weren't sure whether their two-year-old son, Prince George, would have been that well behaved.

Elders gathered at the village's 'Nam-ghar' or community centre couldn't resist asking through a translator why they had not bought George or Princess Charlotte, who turns one next month.

Kate apparently replied: 'Because George is too naughty. He would be running all over the place. The next time we come we will definitely bring them.'

The couple joked with village elders that the two-year-old would be 'running around' the community centre in Panbari on the border of the Kaziranga National Park where they stopped to experience Assam life first-hand.

The friendly exchanges happened at the hub of the 8km squared settlement, which has a population of around 1800 people.

A sign erected at the entrance read: 'Welcome the Hon'ble Prince & Princess of UK to World Heritage Place Kaziranga and Panbari Village Thanks'.

Several hundred villagers turned out for a glimpse of the couple, some wearing traditional Indian robes, others dressed in western clothes and taking pictures with their smart phones.

William and Kate, who was wearing a pink floral Topshop dress with black embroidery and her hair tied back in an elaborate bun, were met by 'Headman' Dhurba Krishna Das, 32, who placed traditional white woven scarfs with red embroidery, called 'gamchas' around their necks, as is customary in this region of Assam. 

They were then led into the building, which with its corrugated iron roof also doubles up as the village's place of worship. 

Greetings: William and Kate were welcomed by the people of Assam, India, before they embarked on their journey into the forest 

Listen carefully: The couple's visit to Kaziranga is designed to show how closely linked its local people are to the animals that live there

Climb aboard: The couple have flown to the beautiful north east of India, famed for its jungles and tea plantations, to highlight the work being done to preserve the country's natural habitat

Loving smile: Catherine gives Prince William an adoring look as the pair prepare to take off on their tour of the national park in northeastern India 

The couple were offered a bench to sit on as they took off their shoes - black wedges in Kate's case and lace up beige desert boots in William's - before entering the humble prayer hall, where they sat on mats weaved from bamboo by local women, surrounded by villagers of all ages in traditional dress, including several young children and a suckling baby.

The scent of joss sticks filled the air as the elders told them how the community came to be living in such close proximity to the local elephant and rhino population.

They heard how the village was established in the 1970s after homes on the nearby Majuli Island, one of the biggest river islands in the world, were flooded through erosion and the changing course of the river.

The flooding then had the knock on effect of causing the local elephant population to seek out higher ground, which resulted in them trampling through the community's paddy fields to get there.

This caused the village to have to diversify, and it now grows tea rather than rice because the elephants bypass tea plantations as there is no water to drink there.

Sitting cross-legged, William asked: 'How do the local people view the elephants and rhinos, are they considered sacred?' They were told the villagers 'love' the elephants because they are happy to live alongside them.

The couple then met with members of the local community, shaking hands and bending down to greet children before being treated to a traditional dance performance, featuring a traditional drummer band.

They then drove the short distance to a typical home and tea plantation.

At the house, which featured mud-daubed walls, they were greeted reverentially by Tilasha Das, 30, and his wife Utala, 25 who knelt down and touched the couple's feet before they entered the premises. 

Sun protection: The future king put on a Kaziranga National Park cap as a smiling Kate chatted to park staff this morning 

Early start: The Duchess was wearing a pair of skinny jeans by High Street store Zara, her favourite Sebago boat shoes and a pretty spotted white blouse. Because of their early start at 7.15am, it appeared she hadn't bothered to blow dry her hair and half tied it back

Anticipated adventure: William has long wanted to visit Kaziranga and the couple will get to see up close the work being done to manage the conflicts that arise when humans and wild animals live in close proximity

Up close and personal: The couple's visit to Kaziranga is designed to show how closely linked its local people are to the animals that live there, including this beautiful elephant

Protect the animals: The Duke and Duchess will meet rangers inside Kaziranga who have been working to protect its animal populations from poachers

Along with their daughters Anamika, eight, and Kumkum, five, and surrounded by extended family, neighbours and a pet black baby goat, they chatted to the Royal couple about life in the village and selling 'char' at the local market. 

On their two small plantations, the Das family produce up to 60kg of tea a year.

William, dressed casually in a light blue open neck shirt and chinos, asked: 'Are the girls on their school holidays' before being told they are schooled in the village.

As the couple stood up to inspect the family's weaving loom, which according to local tradition is always placed at the front of the house, William joked: 'Look at that goat just chilling out down there, wondering what is going on!' 

William tried to sit next to Kate at the loom but couldn't because his legs were too long.

Kate asked lots of questions about the cotton and methods used, asking the translator: 'How quickly can she weave?', to be told 1m an hour.

Kate was then presented with a beautiful red scarf with multi coloured flowers that had bed especially woven for the occasion by Mrs Das. 'That is so special,' said Kate, thank you very much and thank you to your family'.

The couple were then taken on a quick tour of the plantation by Mrs Das's cousin Morami, 31, who heartily embraced the Duchess and kissed her enthusiastically on both hands. 

Afterwards she said: 'I hugged her because I love her. I think she's very very pretty. She acts like a simple girl, not a princess.'

When asked what it means to the villagers to have William and Kate visit Pan Bari, the head man said 'We are all very happy and it makes us proud that they have come here.

'William and Kate told us they are feeling great to be in India. They also told us they like being in Assam because both enjoy drinking tea.' 

More to see: The couple will get to see the growing numbers of villages which are in the path of ancient corridors for elephants and rhinos

Promote change: William plans to use this visit to speak out against what he describes as the 'lies and violence' that threaten Indian rhinos

More to come: Later today the Duke and Duchess will also visit an agricultural village on the edge of Kaziranga to meet villagers and discuss rural life in India

What lies ahead: William and Kate pull out a pair of binoculars as they hope to see rhinos, elephants and possibly even a tiger or two 

From there, William, who is a passionate conservationist, and Kate were introduced to the group of young animals at Centre for Wildlife Rehabilitation and Conservation (CWRC).

It provides emergency care and rehabilitation for wild animals that have been injured, displaced, or orphaned.

In a large area of grassland and sparse woodland the baby animals had gathered under the shade of a tree waiting for the royal couple who walked towards them.

The maternal instincts of the Cambridges - who left their two children at home before setting off on their Indian tour - came to the fore during the encounter.

William and Kate, wearing a £75 ethnic look Top Shop dress and wedges, with her hair tied back in a low bun, fed all the animals in turn.

She crouched over the tiniest of the group - a trio of two female elephants and rhino - to make sure they got every drop of milk and also turned their attention to the older ones. 

Among the youngest was Murphuli, who was aged just four weeks old when she was found in a tea garden trench in October last year.

CRWC vets hoped a female who rushed forward and examined the infant with her trunk was the mother but she was found in the same spot the next day.

Buree was another orphan found, aged two-months, when she was rescued by villagers from a rocky pit and after recovering from a swollen hip is making friends with the other animals.

But it was Dunga the smallest and newest resident at the centre who won Kate's heart. The young rhino was found alone by forest staff while on patrol and when they failed to locate the mother he was brought to the centre.

As the couple fed the elephants some stretched out their funks towards the bottles and all tipped their heads back to get every drop of milk. 

Pretty in pink: The Duchess of Cambridge changes into a smock dress with Indian-inspired embroidery for her visit to Pan Bari Village in Assam after spending the morning on safari at the nearby Kaziranga National Park on day four of their Royal tour to India and Bhutan

The Duke and Duchess of Cambridge greet a villager in Pan Bari Village, where they took part in a discussion about rural life in India

Mark of respect: The Duchess of Cambridge removes her black wedge espadrilles before entering the community hall in Pan Bari Village

Hectic schedule: The couple's whirlwind tour will take them from Mumbai in the west to Assam in the east and on to Bhutan in just six days

William and Kate gave the animals comforting rubs as they fed them scratching the tops of their heads and patting their trunks.

Vivek Menon, chief executive office of the Wildlife Trust of India which established the CWRC with a number other bodies, joined the royal couple for the encounter with the animals.

He said: 'They were absolutely thrilled and loved being with the animals. The Duchess loved the baby rhino particularly. The Duke said if he could he would have spent the whole day there.' 

The couple's last engagement in Assam was to visit the Kaziranga Discovery Park built by the late brother of the Duchess of Cornwall, Mark Shand, a passionate environmentalist who died suddenly in 2014.

Ruth Ellis, CEO of The Elephant Family, the charity he set up, said William remarked that Mark always talked about Asia and praised his legacy in India.

The couple were given two beautiful hand painted models of elephants for their children and were then invited to help paint a much bigger fibreglass elephant that will become part of a major fundraising effort.

William was the first to pick up a brush and drew a blue circle around a red diamond shape, while Kate was more adventurous and painted a flower.

'She took inspiration from my flowers and did them in her own colours,' said Delhi based painter Bulbul Sharma, 62.

Bemused William was also asked to crack open a coconut on the ground, rather like hitting the side of a ship with a champagne bottle.

'Really? I'm worried I am going to hit someone,' he said, before executing it perfectly. 

Perhaps they are missing their own children but whatever the reason the Duke and Duchess of Cambridge were entranced by the energetic dancing of a three-year-old boy at a fireside festival - and laughed heartily when he cheekily attempted to stamp on their feet

The Duke and Duchess of Cambridge were entranced by the energetic dancing of a three-year-old boy at a fireside festival in Assam, India

The Duke of Cambridge introduces himself to the little boy, who appears to be completely unfazed by the fact he is meeting Royalty

Tonight they listened to a set of male drummers, followed by a a second group who played for a set of female dancers - including the cheeky little boy and a six year old girl

The couple shared a laugh when William pointed out one of the moves by the women, but neither appeared tempted to try them out