The Prime Minister was seen walking with his youngest daughter Florence on his shoulders as he took her to nursery.
They left No10 with her scooter but the Prime Minister ended up carrying the three-year-old.
Florence, wearing a multi-coloured polka dot safety helmet, could not resist cheekily covering her father's eyes as he held on tight to her ankles. She then grabbed his face with both hands.
Mr Cameron has spoken in the past about the challenge of juggling the school run with running the country.
He said: "Maybe once a week, sometimes once a fortnight, tragically sometimes once a month I manage to take my children to school, but it's got to be possible to be a decent husband, a good father and a good prime minister at the same time."
Unusually, Mr Cameron did not seem to mind who saw him with Florence, with the pictures approved for publication by Downing Street.
Mr Cameron, 47, is normally extremely careful about guarding his children's privacy.
It comes as the Prime Minister prepares for a two-day trip to Israel and the Palestinian territories, accompanied by a delegation including Natasha Kaplinksy, the former BBC newsreader, and British business leaders including two Conservative party donors.