Kate Middleton and Prince William are "more open" and "talk about their relationship together" amid her cancer journey, a source tells PEOPLE.

Earlier today, Prince William had an official royal engagement in London, in which he visited homelessness charity Centrepoint. Just hours after his public appearance, the Prince of Wales jetted off to Monaco where he was photographed watching his favorite soccer team, Aston Villa, compete in the UEFA Champions League.

Princess Kate and Prince William have shown unprecedented openness about their relationship following Catherine's cancer journey, according to sources close to the royal household. A source told People magazine that the Prince and Princess of Wales are "more open" now and "talk about their relationship together.

Prince William is continuing Princess Diana's legacy through his work with Centrepoint, and the Prince of Wales visited the charity on Jan. 21 amid Kate Middleton's remission news.

William, Kate and their three children call Apartment 1A at Kensington Palace their London home - and there is a major change coming to the area that has personal ties to the family

William first visited the charity with his mother three decades ago. Prince William made a royal appearance today with a visit to the U.K. charity, Centrepoint. The visit marked a continuation of the charitable work done by his late mother,

The royal visited Centrepoint, a charity that helps homeless youth get back on their feet and of which his mother was a patron

Prince William will step out in London on Tuesday, the same day that Prince Harry's High Court trial begins. The Prince of Wales is set to visit Centrepoint's Ealing service, marking a significant milestone as he celebrates 20 years as Patron of the homeless charity.