Prince William and Kate Middleton have yet to walk down the aisle, but that doesn't mean they haven't thought about married life!

In an interview filmed shortly after the announcement of their engagement, Prince William, 28, talks about proposing to Middleton, 29, while "on holiday in Kenya." 

"We'd been talking about marriage for a while," he says. "So it wasn't a massively big surprise."

"It was very romantic," Middleton says. "Of course [I said yes]!"

The couple even opens up about their desire to start a family. "I think we'll take it one step at a time," the prince says. "We'll sort of get over the marriage thing first, then look at the kids. But obviously, we want a family."

Watch the interview above.

For more on the Royal Wedding, including rare photos, interviews with family and friends, details on Kate's new life as a princess and a tour of their lavish homes, order a copy of Us Weekly's Will & Kate: The Royal Wedding now.