Touching portrait of just how far Prince William and Camilla’s relationship has come: Charming moment Wills and the Queen share carriage at Ascot as royals gather without King and Kate

At one point, Prince William‘s relationship with his stepmother was so bad that he allegedly ‘begged’ his father not to marry her.

Prince Harry famously claimed in his bombshell memoir Spare that he and William  pleaded with King Charles not to tie the knot with ‘wicked stepmother’ Camilla.

But today, in touching images, the Prince of Wales and the Queen showed how far they have come in their relationship as they arrived at Royal Ascot together in what was a rare joint outing at a social occasion.

With beaming smiles, the pair looked at ease as they sat with the Earl and Countess of Halifax during the traditional royal carriage procession.

It was the first time that Camilla and William have teamed up since they led senior royals at the Commonwealth Day service at Westminster Abbey in March.

But whilst that was an official engagement, Ascot is not on the roster of duties and so will be seen by royal watchers as a sign of how well William and the Queen now get on.

They were joined by royals including Zara and Mike Tindall and Duke and Duchess of Edinburgh, who are today celebrating their 25th wedding anniversary.

And Michael and Carole Middleton attended in what was their first public appearance since their daughter the Princess of Wales was diagnosed with cancer.

The Duchess of York and her daughters Eugenie and Beatrice, along with Princess Anne and the Duke and Duchess of Gloucester, also delighted crowds.

King Charles – who is continuing his own cancer treatment – did not repeat yesterday’s appearance and instead focused on holding audiences at Buckingham Palace.

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Prince William was accompanied by Queen Camilla in the traditional carriage procession at Royal Ascot today in what was a rare joint appearance by the pair

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 The Prince of Wales, who once had a deeply strained relationship with his stepmother, looked at ease as he sat with her and the Earl and Countess of Halifax in front of adoring crowds

Prince William accompanies Queen Camilla in the Royal Procession

William’s relationship with Camilla stretches back to the trauma of his childhood.

King Charles embarked on an affair with her in the late 1980s, when he was still married to Princess Diana.

The couple’s romance remained low-key until after Diana’s death in a car crash in Paris in 1997 – the year after she and Charles had divorced.

Camilla had been seeing Charles when she was still married to first husband Andrew Parker Bowles. They divorced in 1995.

In Spare, Harry likened Camilla to a ‘wicked stepmother’ and even accused her of leaking stories about him through a palace spin doctor.

However, when Charles and Camilla did get married in April 2005, both William and Harry were present at the ceremony.

In march, William and Camilla shared a giggle when they were joined by Princess Anne and the Duke and Duchess of Edinburgh for Commonwealth Day.

It was a far cry from their strained appearances in previous years.

At Ascot today, Carole and Michael Middleton beamed as they arrived side-by-side for the prestigious event at the Berkshire racecourse.

Kate, who is continuing her cancer treatment, was not present despite making a welcome appearance at Trooping the Colour at the weekend.

She revealed in a statement on Friday she is making ‘good progress’ in her treatment but candidly said she has ‘good days and bad days’ and although there has been some limited working from home, she stressed ‘I am not out of the woods yet’.

Eugenie and husband Jack Brooksbank were in another carriage, and when the procession reached the parade ring, Zara was waiting to greet them all.

Other guests included Andrew Lloyd Webber who was made a Knight Companion of the Order of the Garter during a ceremony at Windsor Castle on Monday, attended by the King and Queen and other senior royals.

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Queen Camilla attends day two of Royal Ascot 2024 at Ascot Racecourse on June 19, 2024

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Queen Camilla is seen sitting opposite Prince William at Royal Ascot today

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Prince William sits next to the Earl of Halifax and opposite Queen Camilla at Royal Ascot

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Prince William is seen sitting opposite a beaming Queen Camilla and the Countess of Halifax

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Queen Camilla, the Prince of Wales and the Earl and Countess of Halifax arrive by carriage during day two of Royal Ascot

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The Prince of Wales waves to crowds as he arrives at Royal Ascot next to the Earl of Halifax

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Prince William embraces Mike Tindall – the husband of his cousin Zara – at Royal Ascot today

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Prince William at Royal Ascot today, mingling with other guests at the famous racecourse

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Prince William speaks to the winning team during a presentation as he attends day two of Royal Ascot 2024

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Prince of Wales speaks to the winning team during a presentation as he attends day two of Royal Ascot 2024

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Prince Edward and Sophie, the Duchess of Edinburgh wave to guests at Royal Ascot today, their 25th wedding anniversary

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Princess Anne talks to Mike Tindall at Royal Ascot today. Bar the King and Kate, all senior royals were in attendance

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Princess Anne seen at Royal Ascot today. She was one of several royals attending the prestigious event

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Zara Tindall embraces Sarah Ferguson, the Duchess of York, at Royal Ascot today

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Prince William beams as he mixes with guests at Royal Ascot today

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Sarah Ferguson, the Duchess of York, stands alongside her daughter Princess Beatrice at Royal Ascot today

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Radiant: Carole appeared effortlessly elegant in her blue number from Self-Portrait

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Carole Middleton grabs hold of son-in-law Prince William, Prince of Wales’s hand as she gets her heel stuck in the grass

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Carole Middleton speaks with Prince William, Prince of Wales as they attend day two of Royal Ascot

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Carole Middleton drinks a glass of champagne at Royal Ascot today

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Princess Beatrice spotted chatting to Zara Tindall ahead of this afternoon’s race meet at Ascot

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Zara, the Duchess of Edinburgh, Princess Eugenie, Prince Edward and Mike Tindall at Royal Ascot today

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Prince William speaks to Carole Middleton at Royal Ascot today

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Prince William stands alongside Zara Tindall and his uncle Prince Edward (left) as he waves at Royal Ascot today

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Prince William enjoys a laugh with friend James Meade at Royal Ascot today

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Princess Beatrice and husband Edoardo Mapelli Mozzi attend Royal Ascot today

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Princess Eugenie beams at Royal Ascot today. She was joined by her sister Beatrice and mother the Duchess of York

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Prince of Wales plays with the tassel on Prince Eugenie’s hat

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Princess Eugenie and Lady Laura Meade celebrate after the third race at Royal Ascot today

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Jack Brooksbank embraces his wife Princess Eugenie at Royal Ascot today

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Zara Tindall embraces Jack Brooksbank, the husband of Princess Eugenie, at Royal Ascot today

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Prince William greets his cousin Zara Tindall at Royal Ascot today

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Princess Beatrice greets Zara Tindall at Royal Ascot today. The royals turned out in force

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Zara Tindall kisses her uncle Prince Edward at Royal Ascot today

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Zara kisses Sarah Ferguson, the Duchess of York, on the cheek at Royal Ascot

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Jockey Ryan Moore is presented with a winners medal by The Duke and Duchess of Gloucester after Illinois won the Queen’s Vase on day two of Royal Ascot

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Zara Tindall stands alongside Sophie, Duchess of Edinburgh, at Royal Ascot today

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Princess Eugenie seen at Royal Ascot today. She was joined by her mother and sister

Cheerful King Charles arrives at Ascot alongside Queen Camilla

Theatre impresario Lord Lloyd-Webber, whose hit musicals include The Phantom Of The Opera, Cats, Jesus Christ Superstar and Joseph And The Amazing Technicolor Dreamcoat, was joined by his wife.

The Middletons also made their way into the ring to mingle with other guess from the royal box.

In March, Carole was pictured driving a 4×4 Audi, with Kate in the passenger seat, near Windsor Castle. The images were published by US gossip website TMZ.

Then in April, William was spotted on a ‘low key’ pub outing in Norfolk with his mother-in-law, while his wife stayed at home, The Daily Mail’s Richard Eden reported. Carole was said to be staying with the couple over Easter.

For today’s appearance, Carole looked effortlessly elegant in her all blue ensemble as she joined her equally sophisticated husband at Ascot.

Her floral dress appeared reminiscent of Kate’s £1,275 blue lace creation by Elie Saab, which she first wore to Royal Ascot in 2019. It also featured a dainty bow and pleated detailing.

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In march, William and Camilla shared a giggle when they were joined by Princess Anne and the Duke and Duchess of Edinburgh for the Commonwealth Day service at Westminster Abbey

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Camilla and William sit next to each other at the Commonwealth Day Service in Westminster Abbey in March 2019. It was Harry and Meghan’s final official engagement

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Prince William enjoys a laugh with Camilla, then the Duchess of Cornwall, at the Invictus Games opening ceremony in September 2014

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William and Camilla sit next to each other at Trooping the Colour in 2007

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Prince William and Harry attend the wedding of their father Prince Charles and Camilla at the Guildhall in Windsor in 2005

Grieving Lady Gabriella Windsor attends Ascot with Princess Anne

Royal Ascot, the jewel in the crown of the UK racing calendar, started yesterday with the Queen Anne Stakes and will run until Saturday.

Yesterday, the King and Queen joined punters at the famous race meeting.

Lady Gabriella Windsor, who lost her husband earlier this year, was also present.

Charles and Camilla took on the late Queen’s thoroughbreds and have entered a string of horses at the race.

The late Queen was a passionate owner and breeder of thoroughbreds, and had more than 20 Royal Ascot winners during her 70-year reign.