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."