They may be family now but it turns out that it actually took Prince William a long time before he introduced Kate Middleton to the Queen.
Kate and William famously fell in love in 2003, after meeting at St Andrews University.
However Kate, who became known as ‘Waity Kaity’ during their brief break-up in 2007, would have to wait five years until she shook the hand of the Monarch.
And if Will and Kate’s drawn out meeting with the Queen is anything to go by, Prince Harry may not be putting a ring on Suits actress Meghan Markle’s finger for a good while yet.
In an interview with ITV’s Tom Bradby straight after her engagement to Prince William was announced, Kate explained when exactly she was introduced to Queen Elizabeth.
“Well I first met her at Peter and Autumn's wedding and again it was in amongst a lot of other guests and she was very friendly,” Kate said.
William then chimed in, commending his grandmother for making Kate feel welcome.
“She was very welcoming, she knew it was a big day and everything was going on with Peter and Autumn, she had wanted to meet Kate for a while, so it was very nice for her to come over and say hello, we had a little chat and got on very well,” he said.
Now the Queen and Kate are allies in the royal family – often appearing together at official engagements and captured laughing together in photos.
In an ITV special last year to mark the Queen’s 90th birthday, the Duchess shared details of the Monarch’s caring nature.
“She’s been very generous and not sort of been forceful at all in any of her views but I feel she’s been a gentle guidance really for me.”
The most memorable engagement for me was an away day to Leister and I went without William so I was rather apprehensive about that.
"But that day, the Queen took time to make sure I was happy and looked after on that occasion. Again, that shows just how caring she is really."
She also revealed that the Queen always leaves a gift in George and Charlotte’s room whenever they go and stay with her.
“That just shows her love for her family,” Kate said.