Prince Charles, Duchess Camilla
Prince Charles and Duchess Camilla are seen above in their royal Christmas card released on Dec. 17, 2015. Getty Images

Despite rumors about how their romance began, it seems Prince Charles and Camilla, Duchess of Cornwall, could not be more perfect for one another. The royal couple opened up about their relationship in a new documentary show "When Ant and Dec Met the Prince: 40 Years of the Prince's Trust," revealing just how in love they really are.

According to a report from People magazine, in the show, which aired Monday in the United Kingdom, the 67-year-old prince referred to Camilla, 68, as his "darling wife." Meanwhile the Duchess of Cornwall discussed the "vision" and drive of her husband as a younger man, telling viewers that he was able to follow through and make his dreams a reality. She spoke proudly about his efforts to help young people and his many successes. She recalled fighting back tears during her first visit to those who had benefited from his actions.

"I'm really proud to be married to somebody who, 40 years ago, at aged 27 had the vision to put it together," Camilla recalled. "It was an incredible idea then, and he was very young then to think of it, to think of the very disadvantaged young people who'd literally been through hell and back. And to find a way to give them a second chance."

Camilla and others featured in "When Ant and Dec Met the Prince: 40 Years of the Prince's Trust" focused on Prince Charles setting up a trust after leaving the Royal Navy. People reports that Prince Charles put all of his severance pay — a mere $10,500 — into an account in the hopes that one day he'd be able to use the money to help youth in the community. The trust has since grown, helping around 825, 000 young people to make positive changes in their lives by seeking further opportunities.

Charles and Camilla married in April 2005, nearly nine years after first wife Princess Diana's death. During her lifetime, the princess did several interviews in which she touched on her ex-husband's relationship with Camilla, suggesting that he had cheated. This information has not been confirmed, however. Diana, 36 at the time of her death, told BBC's Martin Bashir in 1995 that their marriage was troubled by media pressure and infidelity. She said the relationship became "a bit crowded" due to their being three people involved.