Prince William uncomfortable with Prince Andrew despite compromising for King Charles
The King overruled his son to "welcome Prince Andrew back into the family fold".
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The Prince of Wales has not changed his mind about the disgraced Duke of York's role in public life, it is understood.
On Sunday, Prince William was pictured near Balmoral driving his uncle to church with the Princess of Wales in the backseat.
The King had overruled his son to "welcome Prince Andrew back into the family fold" and suggested Prince William should drive him to church in Scotland, according to The Mirror.
The subsequent image captured Britain's most popular royal (Prince William) sitting alongside Britain's least popular royal (Prince Andrew), suggesting the Prince of Wales was publicly showing support for his uncle who, last year, paid money to settle out of court in a civil sexual assault case against him.
The Prince of Wales has not changed his mind about the disgraced Duke of York's role in public life, it is understood.
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The Duke of York accepted no liability as part of the settlement and has always denied the allegations made against him.
However, it is understood Prince William's position hasn't changed since he and his father urged the late Queen not to allow Prince Andrew to take part in the Garter Day parade.
It is thought the Prince of Wales knew how the majority of the public felt about the Duke of York and wanted to avoid a backlash and a PR disaster for the monarchy.
The Mirror reports the heir to the throne respected his father's wishes and agreed to drive his uncle to church on Sunday.
Prince Andrew was banned from appearing on the balcony during The King's Birthday Parade and the coronation earlier this year, because he is no longer a working royal.
The disgraced duke was also not allowed to wear military uniform at his mother's funeral, who had previously stripped him of his military titles, but the King did permit him to wear his Garter robes to watch the crowning inside Westminster Abbey a few months later.
There has been no indication that Prince Andrew will be allowed to become a working royal again, but he has made the occasional public appearance during family gatherings.
Prince Andrew was pictured last Christmas at Sandringham, attending a church service with members of the Royal Family.
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Prince Andrew was banned from appearing on the balcony during The King's Birthday Parade.
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It's thought the Duke of York has taken part in the Royal Family's traditional summer break in Aberdeenshire for the first time without Queen Elizabeth II.
The late Queen died on September 8 at Balmoral Castle last year, aged 96.
King Charles and Queen Camilla have chosen to spend the anniversary privately on the estate, it is understood.
Kensington Palace declined to comment.