On Saturday the family visited the Swedish city of Umea, to celebrate it recently being named the European Capital of Culture, with Estelle taking centre stage.
While 36-year-old Victoria is still suffering from a sprained ankle, it was her young daughter who bagged a seat on the miniature wooden sleigh.
Dressed in a cute white hat, a pink jacket, black trousers and boots, Estelle beamed as Daniel pulled the sleigh through the falling snow.
Sweden's future queen will be celebrating her second birthday on 23 February, just a day before her aunt Princess Madeleine is due to give birth. Madeleine and her husband Chris O'Neill are expecting a baby girl at the end of the month. The baby will be born in New York where the couple live.
Estelle proved herself a dab hand in snowy conditions when she hit the slopes on New Year's Eve. The youngster was kitted out in a spotty all-in-one skisuit to keep the wintry chill at bay. Her parents put their little one's safety first with a blue helmet.
Princess Victoria, however, was out of action as she sprained her ankle on the trip to Cervinia in the Italian Alps.
The mum-of-one hasn't let her injury hold her back though, and she has continued to undertake numerous royal enagements.