Kate and William welcome their first child, Prince George, on 22 July 2013.
Speaking shortly after his birth, Sophie shared that she was excited with the news.
When asked how she felt, she replied: “I feel ridiculously happy actually, so excited for them both. It’s a wonderful event.”
Although the Countess was happy to hear about George’s birth, she explained she took a step back when asked if she had visited the newborn.
She added: “Not yet, I’ve sent messages, but I’m hoping in the next couple of days to be able to catch up with them.
“I think they’ll probably be wanting to just be together at the moment.”
Sophie has two children of her own with her husband, Prince Edward, 55.
The royal couple are the parents of Lady Louise Windsor, 16, and James, Viscount Severn, 12.
The Countess explained she knew what it was like to be a new mother and want privacy.
“Having had babies myself, I know that you really want to close down the hatches and be together with your immediate family in the first few days and weeks,” the Countess added.
“So, I hope to be able to see the baby sometime soon but no plans as yet.”
While Sophie decided not to visit Prince George straight away, she revealed how happy all of the Royal Family were at the time.