Peter Phillips has spoken candidly about his anguish at being prevented from comforting Queen Elizabeth II as she mourned Prince Philip's death.
He revealed the moment in a new documentary released to commemorate what would have been her centenary.
The 48-year-old grandson of the late monarch shared his emotional recollection in Queen Elizabeth II: Her Story, Our Century, which aired to mark her 100th birthday on April 21.
"All you wanted to do was give her a hug, and you couldn't do it," Mr Phillips said in the BBC programme, which also features contributions from Queen Camilla and Sir David Attenborough.
Princess Anne's son reveals anguish as Covid rules kept family separated from Queen Elizabeth II
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The Duke of Edinburgh's funeral took place at St George's Chapel in April 2021, where the image of the Queen seated alone in the pews became one of the defining photographs of the pandemic era.
Coronavirus regulations meant only 30 mourners and four singers could attend the service honouring the man often described as Elizabeth's "strength and stay" after 73 years of marriage.
Downing Street had offered to temporarily lift restrictions for the occasion, but the monarch declined any special dispensation, choosing instead to follow the same social distancing rules that applied to her subjects across the country.
Dame Helen Mirren, speaking in the documentary, characterised the sight of the grieving monarch isolated in the chapel as "the saddest moment of all."
Queen Elizabeth II famously sat alone during Prince Philip's funeral amid the pandemic
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Presenter Kirsty Young reflected on how the photographs of Her Majesty mourning in solitude represented "one of the most moving images of her entire reign."
Ms Young observed that the scene created a profound connection between the public and their sovereign, noting that people felt a sense of shared experience with the Queen during a period when countless families faced similar restrictions at funerals.
The late monarch's decision to reject preferential treatment drew widespread admiration at the time.
Mr Phillips, the son of Princess Anne, has long been reported as one of the late Queen's favourite grandchildren, and he previously spoke of their bond in 2016.
The Princess of Wales and Queen Camilla curtsying to Queen Elizabeth II
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Queen Elizabeth II visiting Port Regis School in 1991, where Peter Phillips was a pupil
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"I've always been very close to my grandmother, and we speak often," he told the Telegraph at the time. "She has been an inspirational person throughout my life."
He also offered insight into the monarch's final days before her death in September 2022, describing himself as fortunate to have been present in Scotland.
Speaking to Sky News Australia, Mr Phillips recalled their last family gathering as "really nice" and "a proper family moment."