There are several rules the royal family have to follow, and for the women, one skill they will master over the years is the art of curtseying. It's an age-old sign of deep respect to greet the monarch with a curtsy. Sometimes, fans will see royal ladies bob down into a low curtsy and bow their head in public if they're seeing the Queen for the first time that day. Usually if they don't greet Her Majesty in this typical, respectful way, it's because they've already seen the monarch in private.
Let's take a look at the best royal curtsies, from seasoned family members including the Duchess of Cambridge and Princess Beatrice, to Mike Tindall even joking around…
Sarah, Duchess of York
The Duchess of York regularly makes an appearance at Royal Ascot as a guest of her ex-husband Prince Andrew, and in 2019, Sarah showed off a perfect curtsy as the Queen rode past in her carriage. The mother-of-two even gave a little wave while Andrew, stood next to her, bowed his head.
The Duchess of Cambridge
Kate did a dainty little curtsy during the Order of the Garter service in Windsor in 2019. The mother-of-three wore a stunning white Catherine Walker coat, topped with a beautiful hat by Lock & Co.
The Duchess of Sussex
Despite being heavily pregnant, the Duchess of Sussex made sure to follow strict royal protocol at Christmas in 2018. Fans were impressed when they saw the mum-to-be bob down into a low curtsy in heels. The former actress had perfected her curtsy over the past year and her public appearance outside St Mary Magdalene's church showed the fruits of her practice.
Clad in a navy ensemble, Meghan confidently clasped her hands together as she placed one leg behind the other and bent her knee. She looked totally at ease compared to her first royal Christmas at Sandringham in 2017, when her curtsy was less deep and she relied on husband Prince Harry to tell her exactly when to bow.
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Naturally, Meghan appeared less confident at her first royal Christmas in 2017, when she publicly curtsied to the Queen but didn't bend down as much.
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Mike Tindall
Showing his good sense of humour, the Queen's grandson-in-law Mike Tindall attempted a curtsy of his own at Royal Ascot.
The Duchess of Cambridge
Seasoned royal Kate had the perfect greeting for the Queen at Easter 2017.
Sarah, Duchess of York
Sarah, Duchess of York held onto her daughter Princess Beatrice for support as she curtsied to the Queen at Ascot.
Princess Beatrice
Beatrice showed fans how it's done, curtsying low while keeping her balance.
Princess Eugenie
It's a respectful royal greeting she's been practising since her childhood, alongside younger sister Princess Eugenie. Adorable!
Princess Diana
But the royals don't always get it right! A misunderstanding back in 1993 saw Princess Diana breach protocol and curtsy to one of the dignitaries during the Malaysian state visit in London.
Princess Anne
Princess Anne showed her respects to her mother's counterpart, King Felipe VI of Spain.
Princess Diana
Princess Diana did the same with Felipe's father, King Juan Carlos, back in 1987.
The Countess of Wessex
The utterly elegant Countess of Wessex perfecting her royal curtsy.
With a straight back and bending low, Sophie shows us how it's done.
The Duchess of Cornwall
The Duchess of Cornwall, alongside the Duchess of Cambridge, timed their curtsies to perfection as the Queen drove past them after the Order of the Garter Service in 2016.
Autumn Phillips
Autumn Phillips holds onto her husband Peter for support as she curtsies at Ascot.
And again back in 2012.
Lady Helen Taylor
Even the lesser-known members of the royal family, such as the Duke of Kent's daughter, Lady Helen Taylor, have mastered their curtsies.
Princess Diana
Diana curtsying at the funeral of her father, Earl Spencer, in 1992.
The Countess of Wessex
The Countess of Wessex dips down to greet her mother-in-law the Queen at Ascot.
The Countess of Wessex
Sophie looking like a total pro alongside Prince and Princess Michael of Kent.
Princess Michael of Kent
Princess Michael of Kent shows her honed skills.