Kate Middleton shared the most memorable moment she had with Queen Elizabeth II so far.

The Duchess of Cambridge and the Queen have a great relationship. Although they don’t often spend alone time together, they reportedly have become allies over the years.

In a recent documentary “Our Queen at Ninety,” the royal mom of three shared the most unforgettable engagement she had with her grandmother-in-law.

“The most memorable engagement for me was an away-day to Leicester. I went without William so I was rather apprehensive about that…She was very supportive,” Middleton said.

Middleton revealed that Her Majesty continued to look after her throughout the engagement. Queen Elizabeth II made sure that she was comfortable and happy.

The Queen and Middleton made their first joint engagement in 2012. The Duchess of Cambridge waited longer compared to her sister-in-law Meghan Markle for the said honor.

During their outing, Prince William’s wife and grandmother were photographed laughing. It took seven years for Queen Elizabeth II and Middleton to do another joint engagement.

On their recent outing, the two royals were photographed sharing the same blanket while in a vehicle. According to royal reporter Ashley Pearson on the Amazon Prime documentary “William & Kate: The Journey,” the Queen is very fond of the duchess due to her values. The monarch likes Middleton’s middle-class values and she likes the fact that she’s very close to her family. In addition, the Queen is impressed that Middleton never tried to garner extra attention to herself and there was nothing flashy or showy about her.

Queen Elizabeth II and Middleton were last seen together at Royal Ascot last week. The senior royals gathered together for the said event.

The Queen looked fabulous in her blue dress, but she was spotted waiting alone. Footage shows Her Majesty turning around to Prince William and Middleton who appeared distracted before walking away toward a different direction.

Prince Charles and Camilla Parker Bowles were also present at the event. However, Prince Harry and Markle didn’t make it. It remains unknown why the couple wasn’t there, but the Duchess of Sussex is still on maternity leave. They were last seen joining the royal family at Trooping the Colour.