Michelle Obama on that time she broke royal protocol with Queen Elizabeth

Michelle Obama is still answering for the time she supposedly breached royal protocol by hugging Queen Elizabeth at Buckingham Palace in 2009. 

The former first lady spoke about the amusing incident on Sunday in London while on the European book tour for her memoir, “Becoming.” 

“Yikes! Sorry, guys,” she joked during her talk, adding that for subsequent events as first lady, she learned to hold her hands together so that she wouldn’t make the same “human” mistake again.

“I don’t know that I could have done anything differently because it was a natural human reaction,” she said on Sunday.

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Michelle Obama, wife of U.S. President Barack Obama, left, walks with Britain's Queen Elizabeth II at the reception at Buckingham Palace in London Wednesday, April 1, 2009. (AP Photo/Daniel Hambury, pool)
US President Barack Obama and his wife Michelle, pose with Britain's Queen Elizabeth II during an audience at Buckingham Palace in London, Wednesday April 1, 2009.(AP Photo/John Stillwell, pool)
US President Barack Obama and his wife Michelle, are welcomed by Britain's Queen Elizabeth II and Prince Philip, during an audience at Buckingham Palace in London, Wednesday April 1, 2009.(AP Photo/John Stillwell, pool)
FILE - In this April 22, 2016 file photo President Barack Obama and first lady Michelle Obama are greeted by Queen Elizabeth II and Prince Philip as they arrive on Marine One at Windsor Castle in Windsor, England. With his departure from Berlin on Friday, Nov. 18, 2016 Obama will leave Europe for the last time as U.S. President. (AP Photo/Carolyn Kaster, file)
FILE - In this May 24, 2011 file photo President Barack Obama, first lady Michelle Obama, Queen Elizabeth II, and Prince Philip pose for photographers prior to a dinner hosted by the queen at Buckingham Palace in London. With his departure from Berlin on Friday, Nov. 18, 2016 Obama will leave Europe for the last time as U.S. President. (Larry Downing/Pool photo via AP, file)
US President Barack Obama, right, talks to Britain's Queen Elizabeth II as he arrives at Windsor castle, England, Friday, April, 22, 2016. Obama and First lady Michelle Obama had a private lunch with Britain's Queen Elizabeth II at Windsor castle. (AP Photo/Alastair Grant, Pool)
President Barack Obama and first lady Michelle Obama walk from Winfield House in London en route to Windsor Castle in Windsor, England, Friday, April 22, 2016, to meet with Britain's Queen Elizabeth II and Prince Philip. AP Photo/Carolyn Kaster)
President Barack Obama and his wife first lady Michelle Obama are greeted by Britain's Queen Elizabeth II and Prince Phillip after landing by helicopter at Windsor Castle for a private lunch in Windsor, England, Friday, April, 22, 2016. (AP Photo/Alastair Grant Pool)
Britain's Queen Elizabeth II and President Barack Obama get into a Range Rover as the president and first lady Michelle Obama arrive at Windsor Castle in Windsor, England, Friday, April 22, 2016. Obama is spending his first full day in the United Kingdom on Friday after arriving Thursday evening. He started by having lunch at Windsor Castle with Queen Elizabeth II, who celebrates her 90th birthday this week. (AP Photo/Carolyn Kaster)
President Barack Obama, center, and his wife first lady Michelle Obama, right, pose with Britain's Queen Elizabeth II in the Oak room at Windsor Castle ahead of a private lunch hosted by the Queen, Friday, April 22, 2016 (John Stillwell/Pool)
U.S. President Barack Obama, center left, and his wife first lady Michelle Obama, center right, pose with Britain's Queen Elizabeth II, left, and Prince Phillip in the Oak room at Windsor Castle ahead of a private lunch hosted by the Queen, Friday, April 22, 2016 (John Stillwell/Pool)
U.S. President Barack Obama, right, and Britain's Queen Elizabeth II, left, enters the Oak room followed by U.S first lady Michelle Obama, background right, and Britain's Prince Phillip at Windsor Castle ahead of a private lunch hosted by the Queen, Friday, April 22, 2016 (John Stillwell/Pool)
President Barack Obama and his wife first lady Michelle Obama are greeted by Britain's Queen Elizabeth II and Prince Phillip after landing by helicopter at Windsor Castle for a private lunch in Windsor, England, Friday, April, 22, 2016. (AP Photo/Alastair Grant Pool)
President Barack Obama and first lady Michelle Obama are greeted by Queen Elizabeth II and Prince Philip as they arrive on Marine One at Windsor Castle in Windsor, England, Friday, April 22, 2016. (AP Photo/Carolyn Kaster)
President Barack Obama and first lady Michelle Obama arrive on Marine One at Winfield House in London, Friday, April 22, 2016, after meeting with Britain's Queen Elizabeth II and Prince Philip. (AP Photo/Carolyn Kaster)
Photo by: KGC-375/STAR MAX/IPx 4/22/16 Queen Elizabeth II and the Duke of Edinburgh stand with the President and First Lady of the United States Barack Obama and his wife Michelle (both centre), in the Oak room at Windsor Castle ahead of a private lunch hosted by the Queen.
Photo by: KGC-375/STAR MAX/IPx 4/22/16 Queen Elizabeth II and the Duke of Edinburgh stand with the President and First Lady of the United States Barack Obama and his wife Michelle (both centre), in the Oak room at Windsor Castle ahead of a private lunch hosted by the Queen.
US President Barack Obama and his wife Michelle, pose with Britain's Queen Elizabeth II and Prince Philip, during an audience at Buckingham Palace in London, Wednesday April 1, 2009.(AP Photo/John Stillwell, pool)
President Barack Obama, left, and first lady Michelle Obama, right, arrive at the Sovereign's Entrance in the Quadrangle of Windsor Castle with Britain's Queen Elizabeth, in Windsor, England, Friday, April 22, 2016. Obama is in Britain for a three day visit. (Geoff Pugh/Pool Photo via AP)
FILE - In this May 25, 2011, file photo, President Barack Obama and first lady Michelle Obama welcome Britain's Queen Elizabeth II and Prince Philip for a reciprocal dinner at Winfield House in London. Obama has gone the extra mile to deliver 90th birthday greetings to Queen Elizabeth II. He’ll do so over lunch on April 22 with the queen at Windsor Castle near London on what likely is the final trip to Britain of the Obama presidency. (AP Photo/Charles Dharapak, File)
U.S. President Barack Obama, first row center, and Russian President Vladimir, 2nd row center, pose during a group photo for the 70th anniversary of the D-Day landings in Benouville, Normany, France, Friday, June 6, 2014. Britain's Queen Elizabeth is standing at right and the King of Norway, Harald V, at left. World leaders and veterans paid tribute on the 70th anniversary of the World War Two D-Day landings to soldiers who fell in the liberation of Europe from Nazi German rule, as host France sought to use the event to achieve a thaw in the Ukraine crisis. (Regis Duvignau, pool)
President of France Francois Hollande, centre, speaks flanked by US President Barack Obama, second left, Britain's Queen Elizabeth II, centre left, Denmark's Queen Margrethe centre right, and Russian President Vladimir Putin during a luncheon for Heads of State at Chateau de Benouville in Benouville France Friday June 6, 2014. World leaders and dignitaries including President Barack Obama and Queen Elizabeth II gathered to honor the more than 150,000 American, British, Canadian and other Allied D-Day troops who risked and gave their lives to defeat Adolf Hitler's Third Reich. (AP Photo/Stephen Crawley, Pool)
FILE - This is a April 1, 2009 file photo dated of US President Barack Obama and his wife, Michelle, with Britain's Queen Elizabeth II during an audience at Buckingham Palace in London. US President Barack Obama is to make a state visit to the UK in May after accepting an invitation from the Queen, Buckingham Palace announced Thursday Feb. 17, 2011. (AP Photo/John Stillwell/Pool, File)
Britain's Queen Elizabeth II talks with U.S. first lady Michelle Obama and US Ambassador Louis Susman at Buckingham Palace in London for a reception hosted by Queen Elizabeth II for the heads of state and government prior to attending the opening ceremony of the London 2012 Olympic Games, Friday, July 27, 2012. (AP Photo/Dominic Lipinski, Pool)
President Barack Obama and first lady Michelle Obama welcome Britain's Queen Elizabeth II and Prince Philip for a reciprocal dinner at Winfield House in London, Wednesday, May 25, 2011. (AP Photo/Charles Dharapak)
Britain's Queen Elizabeth II and U.S. President Barack Obama in Buckingham Palace, London, ahead of a state banquet on Tuesday May 24, 2011. President Barack Obama immersed himself in the grandeur of Britain's royal family Tuesday, as Queen Elizabeth II welcomed him to Buckingham Palace for the first day of a state visit. (AP Photo/Chris Jackson, Pool)
Britain's Queen Elizabeth II, and U.S. President Barack Obama during a state banquet in Buckingham Palace, London, on Tuesday May 24, 2011. President Barack Obama immersed himself in the grandeur of Britain's royal family Tuesday, as Queen Elizabeth II welcomed him to Buckingham Palace for the first day of a state visit. (AP Photo/Lewis Whyld, Pool)
President Barack Obama, first lady Michelle Obama, Queen Elizabeth II, and Prince Philip pose for photographers prior to a dinner hosted by the queen, Tuesday, May 24, 2011, at Buckingham Palace in London. (AP Photo/Larry Downing, Pool)
U.S. President Barack Obama, and first lady Michelle Obama, left, are greeted by Britain's Queen Elizabeth and Prince Philip, right, as they arrive at Buckingham Palace in London, Tuesday, May 24, 2011. (AP Photo/Carolyn Kaster)
U.S. President Barack Obama, left, and first lady Michelle Obama, right, talk to Britain's Prince William, 2nd left, and the Duchess of Cambridge at Buckingham Palace, in London Tuesday May 24, 2011. President Barack Obama and first lady Michelle Obama traded-in Irish charm for the pomp and pageantry of Buckingham Palace Tuesday as they opened a two-day State Visit to Britain at the invitation of Queen Elizabeth II. (AP Photo/Toby Melville, Pool)
U.S. President Barack Obama, left, and first lady Michelle Obama, right, talk to Britain's Prince William, 2nd left, and the Duchess of Cambridge at Buckingham Palace, in London Tuesday May 24, 2011. President Barack Obama and first lady Michelle Obama traded-in Irish charm for the pomp and pageantry of Buckingham Palace Tuesday as they opened a two-day State Visit to Britain at the invitation of Queen Elizabeth II. (AP Photo/Toby Melville, Pool)
President Barack Obama and first lady Michelle Obama stand with Britain's Queen Elizabeth and Prince Philip on the Terrace Stairs of Buckingham Palace during an official arrival ceremony in London, Tuesday, May 24, 2011. (AP Photo/Carolyn Kaster)
President Barack Obama nad first lady Michelle Obama, are photographed with Britain's Queen Elizabeth and Prince Philip upon their arrival at Buckingham Palace in London, Tuesday, May 24, 2011. (AP Photo/Carolyn Kaster)
Britain's Queen Elizabeth II, left holds onto her hat as President Barack Obama, second left first lady Michelle Obama and Prince Philip prepare to go inside Buckingham Place after the President inspected a honor guard from the Scots Guards at the start of the president's State Visit in London, Tuesday, May, 24, 2011. (AP Photo/Alastair Grant)
U.S. President Barack Obama, left, and first lady Michelle Obama, right, talk to Britain's Prince William, 2nd left, and the Duchess of Cambridge at Buckingham Palace, in London Tuesday May 24, 2011. President Barack Obama and first lady Michelle Obama traded-in Irish charm for the pomp and pageantry of Buckingham Palace Tuesday as they opened a two-day State Visit to Britain at the invitation of Queen Elizabeth II. (AP Photo/Toby Melville, Pool)
Britain's Queen Elizabeth II, U.S. President Barack Obama, first lady Michelle Obama and Prince Philip in Buckingham Palace, London, ahead of a state banquet on Tuesday May 24, 2011. President Barack Obama immersed himself in the grandeur of Britain's royal family Tuesday, as Queen Elizabeth II welcomed him to Buckingham Palace for the first day of a state visit. (AP Photo/Chris Jackson, Pool)
TORONTO, ON - SEPTEMBER 29: Former U.S. President Barack Obama and Prince Harry share a joke as they watch wheelchair baskeball on day 7 of the Invictus Games 2017 on September 29, 2017 in Toronto, Canada (Photo by Chris Jackson/Getty Images for the Invictus Games Foundation)
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Writing about the impromptu hug in her memoir, Obama noted that the queen had seemed fine with the moment. 

“I then did what’s instinctive to me anytime I feel connected to a new person, which is to express my feelings outwardly. I laid a hand affectionately across her shoulder,” Obama wrote. 

She added, “I daresay that the Queen was okay with it, too, because when I touched her, she only pulled closer, resting a gloved hand lightly on the small of my back.”

At the time, an anonymous spokesperson for Buckingham Palace insisted that the moment was perfectly fine with Her Majesty and not a breach of royal protocol. 

“It was a mutual and spontaneous display of affection,” the spokesperson said at the time. “We don’t issue instructions on not touching the queen.”

SEE MORE: Barack Obama and his royal friends 

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LONDON, ENGLAND - APRIL 22: In this handout provided by The White House, President Barack Obama, Prince William, Duke of Cambridge and First Lady Michelle Obama talks with Prince George at Kensington Palace on April 22, 2016 in London, England. The President and his wife are currently on a brief visit to the UK where they attended lunch with HM Queen Elizabeth II at Windsor Castle and later dinner with Prince William and his wife Catherine, Duchess of Cambridge at Kensington Palace. Mr Obama visited 10 Downing Street this afternoon and held a joint press conference with British Prime Minister David Cameron where he stated his case for the UK to remain inside the European Union. (Photo by Pete Souza/The White House via Getty Images)
U.S. President Barack Obama and Britain's Queen Elizabeth attend a State Banquet in Buckingham Palace in London May 24, 2011. Obama was treated to royal pomp at Buckingham Palace Tuesday on a two-day state visit aimed at ensuring the United States and Britain keep the "special" in their relationship. REUTERS/Lewis Whyld/PA Wire/Pool (BRITAIN - Tags: POLITICS ROYALS)
TORONTO, ON - SEPTEMBER 29: Former U.S. President Barack Obama and Prince Harry on day 7 of the Invictus Games 2017 on September 29, 2017 in Toronto, Canada. (Photo by Chris Jackson/Getty Images for the Invictus Games Foundation )
LONDON, ENGLAND - APRIL 22: In this handout provided by The White House, President Barack Obama, Prince William, Duke of Cambridge and First Lady Michelle Obama talks with Prince George at Kensington Palace on April 22, 2016 in London, England. The President and his wife are currently on a brief visit to the UK where they attended lunch with HM Queen Elizabeth II at Windsor Castle and later dinner with Prince William and his wife Catherine, Duchess of Cambridge at Kensington Palace. Mr Obama visited 10 Downing Street this afternoon and held a joint press conference with British Prime Minister David Cameron where he stated his case for the UK to remain inside the European Union. (Photo by Pete Souza/The White House via Getty Images)
Britain's Queen Elizabeth II and the Duke of Edinburgh stand with the President and First Lady of the United States Barack Obama and his wife Michelle (both centre), in the Oak Room at Windsor Castle ahead of a private lunch hosted by the Queen in Windsor, Britain, April 22, 2016. REUTERS/John Stillwell/Pool
LONDON - MAY 24: President of the United States Barack Obama speaks to Prince Charles, Prince of Wales as they leave Winfield House, the official residence of the US Ambassador on May 24, 2011 in London, England. (Photo by Anwar Hussein/WireImage)
U.S. President Barack Obama and first lady Michelle Obama pose with Britain's Prince William, his wife Catherine, Duchess of Cambridge, and Prince Harry, upon arrival for dinner at Kensington Palace in London, Britain April 22, 2016. REUTERS/Kevin Lamarque/File photo
Britain's Queen Elizabeth and Prince Philip welcome U.S President Barrack Obama and First Lady Michelle Obama on their arrival at Windsor Castle for a private lunch, in Windsor, Britain, April 22, 2016. REUTERS/Jack Hill/Pool
Britain's Prince Harry (R) and former U.S. President Barack Obama converse as they watch a wheelchair basketball event with former U.S. Vice President Joe Biden (L) and his wife Jill Biden at the Invictus Games in Toronto, Ontario, Canada, September 29, 2017. REUTERS/Mark Blinch
LONDON, ENGLAND - APRIL 22: In this handout provided by The White House, President Barack Obama talks with the Prince William, Duke of Cambridge as Catherine, Duchess of Cambridge plays with Prince George as First Lady Michelle Obama talks with Prince Henry at Kensington Palace on April 22, 2016 in London, England. The President and his wife are currently on a brief visit to the UK where they attended lunch with HM Queen Elizabeth II at Windsor Castle and later dinner with Prince William and his wife Catherine, Duchess of Cambridge at Kensington Palace. Mr Obama visited 10 Downing Street this afternoon and held a joint press conference with British Prime Minister David Cameron where he stated his case for the UK to remain inside the European Union.(Photo by Pete Souza/The White House via Getty Images)
LONDON, ENGLAND - MAY 24: Queen Elizabeth II and U.S. President Barack Obama (R) pose in the Music Room of Buckingham Palace ahead of a State Banquet on May 24, 2011 in London, England. The 44th President of the United States, Barack Obama, and his wife Michelle are in the UK for a two day State Visit at the invitation of HM Queen Elizabeth II. During the trip they will attend a state banquet at Buckingham Palace and the President will address both houses of parliament at Westminster Hall. (Photo by Chris Jackson - WPA Pool/Getty Images)
U.S. President Barack Obama and first lady Michelle Obama are greeted by Queen Elizabeth II and Prince Philip, Duke of Edinburgh upon their arrival for lunch at Windsor Castle in Windsor, Britain April 22, 2016. REUTERS/Kevin Lamarque TPX IMAGES OF THE DAY
Britain's Prince Harry and former U.S. President Barack Obama pose with an athlete as they watch a wheelchair basketball event during the Invictus Games in Toronto, Ontario, Canada September 29, 2017. REUTERS/Mark Blinch
US President Barack Obama (L) and his wife Michelle (R) meet Britain's Queen Elizabeth II (2nd L) and Prince Philip, the Duke of Edinburgh (2nd R) during an audience at Buckingham Palace in central London, on April 1, 2009. US President Barack Obama visited Queen Elizabeth II at Buckingham Palace on Wednesday while his in London for the G20 summit. Obama and wife Michelle were hosted by the queen for a meeting, the day before the crunch summit on tackling the world economic crisis. AFP PHOTO/John Stillwell/WPA POOL (Photo credit should read JOHN STILLWELL/AFP/Getty Images)
WASHINGTON, DC - MARCH 19: Prince Charles, Prince of Wales smiles with President of the United States of America Barack Obama in the Oval Office on the third day of a visit to the United States on March 19, 2015 in Washington, DC. The Prince and Duchess are in Washington as part of a Four day visit to the United States. (Photo by Chris Jackson/Getty Images)
U.S. President Barrack Obama and First Lady Michelle Obama arrive for dinner at Kensington Palace with Britain's Prince William, his wife Kate and Prince Harry in London, Britain, April 22, 2016. REUTERS/Kevin Lamarque
LONDON, ENGLAND - MAY 25: Queen Elizabeth II signs the guest book as she bids farewell to U.S. President Barack Obama (L) and First Lady Michelle Obama, watched by the Duke of Edinburgh (2nd R) at Winfield House - the residence of the Ambassador of the United States of America, in Regent's Park, on May 25, 2011 in London, England. The 44th President of the United States, Barack Obama, and First Lady Michelle are in the UK for a two day State Visit at the invitation of HM Queen Elizabeth II. Last night they attended a state banquet at Buckingham Palace and today's events include talks at Downing Street and the President will address both houses of Parliament at Westminster Hall. (Photo by Yui Mok - WPA Pool/Getty Images)
U.S. President Barack Obama and first lady Michelle Obama visit Kensington Palace for dinner with Britain's Prince William, his wife Catherine, Duchess of Cambridge, and Prince Harry in London, Britain April 22, 2016. REUTERS/Stephen Crowley/Pool
U.S. President Barack Obama (C) prepares to review British troops with Prince Phillip (R), Duke of Edinburgh, during an official arrival ceremony at Buckingham Palace in London May 24, 2011. REUTERS/Larry Downing (BRITAIN - Tags: ROYALS POLITICS)
LONDON APRIL 1: US President Barack Obama and his wife Michelle Obama pose for photographs with Queen Elizabeth II and Prince Philip, Duke of Edinburgh during an audience at Buckingham Palace on April 1, 2009 in London, England. (Photo by John Stillwell - WPA Pool/Getty Images)
12/8/14- The White House Washington DC President Barack Obama welcomes Prince William, the Duke of Cambridge, for a meeting in the Oval Office, photo: Christy Bowe - ImageCatcher News (Photo by Christy Bowe/Corbis via Getty Images)
U.S. President Barack Obama and first lady Michelle Obama tour the Queen?s Gallery with Queen Elizabeth II and Prince Phillip, Duke of Edinburgh, at Buckingham Palace in London May 24, 2011. REUTERS/Larry Downing (BRITAIN - Tags: ROYALS POLITICS)
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U.S. President Barack Obama looks on as Britain's Queen Elizabeth II holds on her hat as the wind blows during an official arrival ceremony on the Buckingham Palace Terrace stairs in London May 24, 2011. REUTERS/Larry Downing (BRITAIN - Tags: POLITICS ROYALS)
OUISTREHAM, FRANCE - JUNE 06: (UK OUT FOR 28 DAYS) U.S. President Barack Obama greets Prince Charles, Prince of Wales and Camilla, Duchess of Cornwall as they attend a Ceremony to Commemorate D-Day 70 on Sword Beach during D-Day 70 Commemorations on June 6, 2014 in Ouistreham, France. (Photo by Samir Hussein/WireImage)
LONDON, ENGLAND - MAY 25: (L-R) U.S. President Barack Obama, Queen Elizabeth II and First Lady Michelle Obama arrive at Winfield House, the residence of the Ambassador of the United States of America, in Regent's Park, on May 25, 2011 in London, England. The 44th President of the United States, Barack Obama, and First Lady Michelle are in the UK for a two day State Visit at the invitation of HM Queen Elizabeth II. Last night they attended a state banquet at Buckingham Palace and today's events include talks at Downing Street and the President will address both houses of Parliament at Westminster Hall. (Photo by Yui Mok - WPA Pool/Getty Images)
US President Barack Obama (L) speaks with Britain's Prince William, the Duke of Cambridge, at Buckingham Palace, in central London, on May 24, 2011. US President Barack Obama Tuesday basked in the lavish royal pageantry of a state visit to Britain, given an extra dash of glamour by a brief encounter with Prince William and his bride Catherine. But the 24-hour demands that follow a US president everywhere shadowed the London pomp, as Obama took time out to say he was 'heartbroken' at the toll of vicious tornados which ripped across the US midwest, killing 116 people. AFP PHOTO / CHARLES DHARAPAK/POOL (Photo credit should read CHARLES DHARAPAK/AFP/Getty Images)
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Prince William, the Duke of Cambridge, left, and U.S. President Barack Obama, meet in the Oval Office of the White House in Washington, D.C., U.S., on Monday, Dec. 8, 2014. Obama welcomed Prince William for his first visit to the White House to thank the Duke of Cambridge for the British royal family's hospitality during presidential visits to the U.K. and to underscore 'the special relationship between the United States and the United Kingdom,' the White House said in announcing the visit. Photographer: Andrew Harrer/Bloomberg *** Local Caption *** Prince William; Barack Obama (Photo by Andrew Harrer/WHITE HOUSE POOL (ISP POOL IMAGES)/Corbis/VCG via Getty Images)
WASHINGTON, DC - MARCH 19: Prince Charles, Prince of Wales smiles with President of the United States of America Barack Obama in the Oval Office on the third day of a visit to the United States on March 19, 2015 in Washington, DC. The Prince and Duchess are in Washington as part of a Four day visit to the United States. (Photo by Chris Jackson/Getty Images)
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LeBron James was similarly accused of breaching royal protocol when he met with Prince William and Kate Middleton at a basketball game in New York City in 2014, as part of the royal couple’s visit to the U.S. 

“King James” put his arm around the Duchess of Cambridge in one of the photos, but once again the palace said there was no harm, no foul. 

“The Duke and Duchess of Cambridge very much enjoyed their time in the US, including attending the NBA game and meeting LeBron,” Laura King, senior communications officer for Buckingham Palace, told the Northeast Ohio Media Group in 2014. 

“When members of the Royal Family meet people they want them to feel as comfortable as possible,”  King added. “There is no such thing as Royal protocol.” 

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