But behind closed doors, the royals are just like any other family and during more light-hearted engagements, they greet each other with kisses. Prince Charles has been known to plant a kiss on his mother's hand on more than one occasion. Let's take a look at some of the Queen's sweetest PDA moments, starting with the monarch and the Duchess of Cambridge…
Fans are hardly ever treated to photos of Kate informally greeting the Queen, but on Christmas Day in 2013, the Duchess was snapped bending down to kiss her grandmother-in-law.
SARAH Ferguson has admitted she nearly cried at Meghan Markle and Prince Harrys wedding after realising the old Fergie is back.
The Duchess of York, known as Fergie, made the admission on ITV chat show Good Morning Britain today during a rare interview.
Daily Star Online had reported how she “couldn’t stop thinking about Princess Diana” at Meghan Markle and Prince Harry’s wedding.
We also told how she reacted to claims she and Prince Andrew are back together – with royal fans bombarding them with pleas to re-marry.
With another grandchild on the way, Prince Charles has taken the time to thank royal fans for their well-wishers following the Duke and Duchess of Sussex's baby announcement. Royal blog account, called Crown Replies, shared the lovely note the heir to the throne sent after receiving various congratulatory cards. The message from Clarence House read: "The Prince of Wales asked me to thank you for your recent letter, which you have sent following the announcement that the Duke and Duchess of Sussex are expecting their first child."
But Fergie also revealed during the interview that she was close to tears at the Royal Wedding – having been snubbed from Prince William and Kate Middleton’s big day.
Presenter Piers Morgan reminded her how, during her arrival at Windsor Castle, “you stepped out of the car and everyone went nuts”.
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“I really sort of looked around and thought ‘are they doing it for me?’, then someone went Fergie and it was like the old Fergie is back.
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The Duchess singled out Meghan and Harry for inviting her to their wedding, and hinted that it was a big turning point in relations with the Royal Family since her divorce from Andrew.
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“I felt very honoured and grateful to Harry and Meghan to invite me,” she said. “That is a big, big thing.”
“And I thought of my mum, and my father would say, “Come on, the show goes on, get on with it”, and he always taught me to walk tall. And, as I came round the corner that made me cry, the kind people [waiting outside] that had been so lovely… It just was very moving.”
But Fergie heaped most of her praise on the Queen, saying: “I think Her Majesty is an incredible lady, and what an icon to the country.
“(She is) one of the finest people on the world I’ve ever met. Her Majesty leads by such example that to be so inclusive, to include me, it is a wonderful gesture.”
Fergie also joked how “Her Majesty knew me from when I was a little naughty aged 10”, adding: “I still am a little naughty aged 10!”
Princess Eugenie and Beatrice’s mum had been appearing on the ITV chat show this morning to launch a charity campaign.
I asked a palace aide, “has she written this herself?”, as thats quite unusual for the royals, theres usually other people, he recalled. This was all her, shes been up for days working on this speech.
She is patron of Street Child, a UK charity that aims to create educational opportunity for some of the most vulnerable children in Africa and Asia.