The intimate chat, which featured in this week's People magazine, the now-31-year-old reflected on his prolific life.
Harry was just 12-years-old when he lost his mother.
“I don’t have that many memories of my childhood with my Mum," he admitted.
All I want to do is make my mother incredibly proud," Harry added during the exclusive interview. "That's all I've ever wanted to do."
Watch Harry's incredible chat in the video player. Post continues below!
The former military man continued, "When she died, there was a gaping hole, not just for us but also for a huge amount of people across the world."
"If I can try and fill a very small part of that, then job done. I will have to, in a good way, spend the rest of my life trying to fill that void as much as possible. And so will William."
Harry just landed in Florida, America, ahead of his second Invictus Games, which will kick off later this month.
The international sporting event, made for injured soldiers, will host over 500 competitors from 15 countries.
Many have noted Harry's charitable side rings true to his late mother's philanthropic efforts.
"I enjoy what I do. But I don't do things because I feel as though my mother would want me to do them."
Before he quipped, "I know I've got a lot of my mother in me. I am doing a lot of things that she would probably do."
The interview, which took place in Kensington Palace, also saw the Uncle to Prince George and Princess Charlotte admit he does want kids... eventually!
"There have been moments through life, especially when we do a tour abroad, when I think, 'I'd love to have kids now.' . . . And then there are other times when I bury my head in the sand going, 'All right, don't need kids!' There's no rush," he said.
For the time being, he's happy being the kids "fun uncle".
"Nobody wants to be boring!"