Prince Harry hopes his children will have a relationship with the royal family

"I've said before that I've wanted a family, not an institution."

Despite his fractured relationships with several members of the Royal Family, Prince Harry has said that he hopes his children will have a positive bond with their relatives. Harry and Meghan Markle are the parents of three-year-old Archie Mountbatten-Windsor and one-year-old Lillibet Mountbatten-Windsor. The family lives in California, while their father's side of the family lives in the UK. In an interview with PEOPLE, Harry spoke about how he hopes his son and daughter will have a good relationship with their grandparents, aunts, uncles, and cousins. He told the publication: "I've said before that I've wanted a family, not an institution—so of course, I would love nothing more than for our children to have relationships with members of my family, and they do with some, which brings me great joy." Prince Harry has been making headlines this week following the release of his memoir Spare. In the book, he shares a number of insights into his life in the Royal Family, shedding light on his decision to leave. In one snippet, he shares that he had a fight with William over his marriage to Meghan. During their argument, Harry alleges that William physically hurt him and knocked him over. He also claimed that William described Meghan as "difficult, rude, and abrasive". Harry writes: "He set down the water, called me another name, then came at me. It all happened so fast. So very fast. He grabbed me by the collar, ripped my necklace, and he knocked me to the floor. I landed on the dog’s bowl, which cracked under my back, the pieces cutting into me. I lay there for a moment, dazed, then got to my feet and told him to get out.” Prince William reportedly told his brother to fight back, but Harry refused to do so. The dad-of-two said William left his home but returned later that evening "looking regretful and apologised".