The former First Lady visited Buckingham Palace in 2009 with her husband Barack Obama who was the US President at the time. Despite the visit taking place 10 years ago, Michelle said she is still answering for the time she broke royal protocol at Buckingham Palace.
During her visit, Michelle greeted the Queen by hugging her rather than curtseying.
Michelle described the encounter with Her Majesty when she stopped off in London for her book tour in April this year.
She said during her talk: “Yikes! Sorry guys!”
Michelle also revealed how she now holds her hands together so she won’t make the same mistake again.
She branded the blunder a “human” mistake.
She added: “I don’t know that I could have done anything differently because it was a natural human reaction.”
The ex-FLOTUS also discussed the dramatic mistake in her biography ‘Becoming’.
She said: “I then did what’s instinctive to me anytime I feel connected to a new person, which is to express my feelings outwardly.
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“We don’t issue instructions on not touching the Queen.”
Michelle also described another awkward moment with the Queen in her book.
During another visit by Michelle and Barack, the couple landed by helicopter and were picked up by the Queen and Prince Philip.
Michelle was reportedly instructed to sit in the front seat with Prince Philip.
However, the Queen unexpectedly changed the rules.
Michelle wrote in her book: “After we’d touched down in a field on the palace grounds and said our hellos, however, the Queen abruptly threw a wrench into everything by gesturing for me to join her in the backseat of the Range Rover.
“I froze, trying to remember if anyone had prepped me for this scenario, whether it was more polite to go along with it or to insist that Barack take his proper seat by her side.”
The Queen could see Michelle’s confusion and told her to break the rule.
Her Majesty said to Michelle: “Did they give you some rule about this?
“That’s rubbish. Sit wherever you want.”