You had met the princess after the Calamity. She and her appointed knight had been traveling around, trying their hardest to repair Hyrule and bring it back to how it had been before.

She'd come to visit Kakariko Village, your hometown, to check in with Lady Impa. You, a Shiekah, stood in the room while they talked.

By the time they finished, it was evening, and you were to escort the princess to the inn.