Meghan Markle is opening up about sharing her authentic self on social media — and speaking out for the first time about her now-viral video straight from the delivery room.

The Duchess of Sussex, 43, chats about her “Baby Momma Dance” moment in the latest episode of the Aspire with Emma Grede podcast, out Tuesday, June 17. In an exclusive sneak peek shared with PEOPLE, Meghan reflects on the candid Instagram video of her dancing with husband Prince Harry, 40, which she posted on June 4 to celebrate their daughter Princess Lilibet’s 4th birthday.

“Four years ago today, this also happened. Both of our children were a week past their due dates… so when spicy food, all that walking, and acupuncture didn’t work — there was only one thing left to do! 😂,” Meghan, who recently wrapped the first season of her Confessions of a Female Founder podcast, wrote in the caption on Instagram.

In PEOPLE’s exclusive preview of the podcast, Meghan tells Grede — founding partner and chief product officer of SKIMS and CEO and co-founder of Good American — that she’s excited to share more of her true self online, echoing Grede’s belief that authenticity is the key to success.

“You have to be authentic,” Meghan, who launched her lifestyle brand As ever, earlier this year, says, before asking with a laugh, “Did you see my ‘Baby Momma’ dance?”

Grede, who was born and raised in London and lives in L.A. with her husband, Swedish entrepreneur Jens Grede, and their four children, said she had: “We maybe watched it like 20 times yesterday, and I was like, is that, is that her? Is that Prince Harry there with the fingers…I was like, okay…good on Harry, let’s go. But that’s you, right? Like that’s you in a way that we kind of haven’t been able to see you before.”

Grede continues, “And I did like a little secret cheer, cause I was like, well, that’s what I kind of want to see from you. Like I wanna see that happiness and that honesty and that ‘I don’t give a f—’ kind of thing.”

Meghan points out that the video was several years old and that the clip serves as a reminder that people aren’t getting the entire picture when it comes to her life.

“That was four years ago,” she says. “So it’s also a really great reminder that with all the noise or whatever people do, there’s still a whole life — a real, authentic, fun life — that’s happening behind the scenes.”

The Duchess of Sussex adds, “I’m just grateful that now, being back on social as well, I have a place where I can share it on my own terms.”

Before sharing the behind-the-scenes video of her labor with Lilibet, Meghan also celebrated her daughter’s fourth birthday by posting some never-before-seen photos of Prince Harry and Lilibet on Instagram on June 4.

Meghan celebrated “the sweetest bond” between Harry and Lilibet, whom she called “Daddy’s little girl and favorite adventurer.”

On Father’s Day, Meghan posted more never-before-seen videos of Prince Harry with their two kids, Prince Archie, 6, and Lilibet, on Instagram.

“The best,” Meghan captioned her post. “Happy Father’s Day to our favorite guy 💕.”