Off to class! Princess Mary and Prince Frederik's adorable twins pose in uniform as they start school (but is Prince Vincent having first day nerves?)

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Starting school for the first time can be a daunting experience for any child - even if you are a prince.

Dressed in their uniform, Crown Princess Mary's six-year-old twins Prince Vincent and Princess Josephine arrived at Tranegård School in Hellerup, Denmark, to begin Grade 0.

The Australian-born royal and her husband Prince Frederik seemed proud as they embarked on the school run with their youngest children on Tuesday.

And while Princess Josephine was brimming with confidence, her brother Prince Vincent appeared to show a hint of nervousness ahead of his first day.

Smile! Princess Mary and Prince Frederik's twins Prince Vincent and Princess Josephine pose in uniform as they start their first day at school

Prince Vincent appeared to show a hint of nervousness ahead of his first day as his mother comforted him on Tuesday

Princess Josephine was brimming with confidence as she followed behind her father, alongside her mother and twin brother

The Danish Crown Princess was seen comforting her adoring son, who looked emotional - but eventually Prince Vincent broke out into a smile as posed in his school uniform, alongside his family.

Wearing a long-sleeve light blue shirt with a white collar and a pair of grey-coloured shorts, the youngster stepped out with a large blue backpack and sneakers.

His twin sister Princess Josephine had a red flower in her hair as she donned a light blue dress, featuring a Peter Pan collar, buttons, a bow around her waist and a navy strip around the hems of the skirt.

The twins now join their older siblings Prince Christian and Princess Isabella at the school.

Princess Josephine had a red flower in her hair as she donned a light blue dress as Prince Vincent wore a long-sleeve shirt

Princess Josephine smiling on her first day of school as her twin brother Prince Vincent seemed nervous ahead of class

Dressed for the momentous occasion, Princess Mary, who was born in Hobart, was glowing as she stepped out in a sophisticated dress.

She sported a pair of brown heels that perfectly matched her belt around the waist - and finishing off her look with gold earrings and bangles around her wrist.

Prince Frederik opted for a smart look, wearing a brown blazer over his collared shirt and dark blue trousers.

Off to class! The six-year-old twins now join their older siblings Prince Christian and Princess Isabella at the school

Unlike her brother, lively Princess Josephine seemed thrilled about starting big school and couldn't wipe the smile from her face

Prince Vincent was seen clinging to his mother as the group posed and waved to media 

The first day of school comes just days after FEMAIL took a nostalgic look back at the twins' life in pictures, from family photo shoots to birthdays and trips to the snow

The first day of school comes just days after FEMAIL took a nostalgic look back at the twins' life in pictures, from family photo shoots to birthdays and trips to the snow.

Vincent Frederik Minik Alexander and Josephine Sophia Ivalo Mathilda were born on January 8, 2011 to Crown Princess Mary and her husband, Prince Frederik. 

As the youngest members of the Danish Royal family, with two older siblings in Prince Christian and Princess Isabella, they've always been playful.

Princess Josephine has especially captured the eyes and hearts of the public, thanks to her ability to pull funny faces whenever there's a camera around. Prince Vincent, on the other hand, appears to be slightly more reserved. 

Princess Josephine and Prince Vincent are pictured at Prince Henrik's 80th birthday celebrations 

In honour of the momentous occasion for the Danish Royal family (pictured left), FEMAIL took a look back at some of the twins' scene-stealing moments (pictured right)

The family have enjoyed skiing holidays in Verbier since the twins' arrival (pictured)

Princess Josephine has made a name for herself for stealing the scene at various Royal photo calls, including the Hubertus Hunting Event in 2015 (pictured)

Vincent Frederik Minik Alexander and Josephine Sophia Ivalo Mathilda were born on January 8, 2011 to Crown Princess Mary and her husband, Prince Frederik (pictured)

As the youngest members of the Danish Royal family, with two older siblings in Prince Christian and Princess Isabella, they've always been playful (pictured with their parents at a photo call) 

The family have enjoyed a four-day summer tour of Northern Denmark (pictured)

When the twins were born in 2011, a 21-gun salute was fired from the Naval Base in Copenhagen 

When it comes to their life story, the young Royals have shared much of it together.

When they were born in 2011, a 21-gun salute was fired from the Naval Base in Copenhagen. 

They were later christened on April 14 of the same year, at the Church of Holmen in Copenhagen. 

Since then, the twins have enjoyed countless experiences children their age could only dream of. At seven months old, they were taken aboard the Royal yacht.

Just two months later they travelled to Australia, and were photographed at Admiralty House in Sydney.

The twins have, on occasions, been pictured out riding on the front of Princess Mary's bicycle

The twins are the youngest members of the Danish Royal family

They have enjoyed countless experiences children their age can only dream of (pictured in Verbier)

Josephine always manages to capture the limelight, thanks to her games and funny facial expressions (pictured)

Princess Mary is captured on her bike at the Palace in Copenhagen over the winter in 2016

The duo have also been on a ski holiday to Switzerland at age four, where photos showed them enjoying the snow and riding toboggans down the slopes with their parents. 

During the Hubertus Hunting Event in 2015, Josephine was photographed pulling a series of hilarious facial expressions, playing with her Minion toy, and generally acting up.

She has since become known to steal the show at the family's annual photo calls, waving her hands in the air and grinning as the plays in front of the camera. 

The Danish Royal family, pictured attending the Hubertus Hunting Event in Copenhagen

More recently, the twins helped to ring in Queen Margrethe's 77th birthday and Easter Sunday in April this year

More recently, the twins helped to ring in Queen Margrethe's 77th birthday and Easter Sunday in April this year.

The Royal family took to the balcony at Marselisborg Palace in Aarhus to wave to the crowds on the religious day in Denmark.

Again, it was Princess Josephine who stole the show, with Princess Josephine and Princess Athena reportedly impressing the crowds with a dance performance to the live music. 

They have since enjoyed a summer holiday travelling around the Greek islands on a luxury yacht.