Catherine, Duchess of Cambridge meets Richard E Grant and Joan Collins during the Dramatic Arts reception at Buckingham Palace on February 17, 2014.Photo:Yui Mok - WPA Pool/Getty

Catherine, Duchess of Cambridge meets Richard E Grant and Joan Collins during the Dramatic Arts reception at Buckingham Palace on February 17, 2014 in London, England.

Yui Mok - WPA Pool/Getty

Joan Collinsmade a relatable mistake when she crossed withKate Middletonand her kids last year!

After participating in a motorcade down The Mall in London, Collins said that she received a warm welcome from members of the royal family.

“Finally, we arrived outside the Royal Box, which was packed with royals and relatives of the Queen. As we descended from the Jaguar, trying to look presentable after two hours in the freezing wind, Princess Beatrice and her husband Edoardo waved at us excitedly. Then he nudged Princess Anne, who nudgedPrince CharlesandQueen Camilla, and they all waved, smiled at us, and mouthed, ‘Well done!’ Very gratifying indeed,” she wrote inBehind the Shoulder Pads.

Joan Collins and her husband Percy Gibson take part in the Platinum Jubilee Pageant on June 5, 2022.Jonathan Brady - WPA Pool/Getty

Actress Joan Collins and her husband Percy Gibson take part in the Platinum Jubilee Pageant in front of Buckingham Palace, on day four of the Platinum Jubilee celebrations, on June 05, 2022 in London, England.

Jonathan Brady - WPA Pool/Getty

“Shown to the green retiring room behind the box, I collapsed onto a sofa and was offered a cup of tea. Suddenly, a vision appeared in a red dress. Catherine, the Duchess of Cambridge, with her two young children in tow,” the Golden Globe winner continued, referring to Kate,Princess Charlotte, 8, andPrince Louis, 5. (Princess Kate andPrince William’s eldest son,Prince George, 10, wasn’t mentioned).

“‘Hello, Joan,’ she said sweetly, holding out her hand,’ ” Collins wrote.

" ‘Hello, ma’am,’ I gulped, forgetting to curtsy,” she recalled.

" ‘This is Charlotte, and this is Louis,’ she said, and both little people held out their tiny hands politely for a handshake,” the star said, shouting out the royal children’smanners.

Prince George, Prince William, Princess Charlotte, Prince Louis, and Catherine, Duchess of Cambridge on the balcony of Buckingham Palace following the Platinum Pageant in 2022.

Though Collins forgot to curtsy during her most recent meeting with Kate, the two previously met at a Dramatic Arts reception at Buckingham Palace in 2014 and again at the Royal Variety Performance at the Palladium Theatre in 2017. Collins and Kate shook hands at the Royal Variety Performance — proving that there are no set rules around how to greet the royals!

Catherine, Duchess of Cambridge speaks to Joan Collins on stage as they attend the Royal Variety Performance in November 2017.Eddie Mulholland - WPA Pool/Getty

Catherine, Duchess of Cambridge speaks to Joan Collins on stage as they attend the Royal Variety Performance at the Palladium Theatre on November November 24, 2017 in London, England.

Eddie Mulholland - WPA Pool/Getty

According to the royal family’swebsite, which has yet to be updated in full following the death ofQueen Elizabethin September 2022, “There are no obligatory codes of behavior when meeting The Queen or a member of the Royal Family, but many people wish to observe the traditional forms.”

“For men, this is a neck bow (from the head only) whilst women do a small curtsy. Other people prefer simply to shake hands in the usual way,” the page states.

Can’t get enough of PEOPLE’s Royals coverage?Sign up for our free Royals newsletterto get the latest updates on Kate Middleton, Meghan Markle and more!

The Order of the Garter day in June 2023.Yui Mok-WPA Pool/Getty Images

Prince William, Prince of Wales, Catherine, Princess of Wales, Sophie, Duchess of Edinburgh and Prince Edward, Duke of Edinburgh watch as King Charles and Queen Camilla depart after the Order Of The Garter Service

Yui Mok-WPA Pool/Getty Images

As a gesture of respect, Princess Kate has dipped into deep curtsies to greet King Charles and Queen Camilla during formal events like theOrder of the Garterceremony day and theirMay coronationat Westminster Abbey. Her curtsies to the royal couple at the second annualRoyal Carols: Together at Christmaslast December evenwent viralonline, though fans may have been surprised to see that Prince George and Princess Charlotte didn’t bow or curtsy as well.

The protocol around that goes back to their young age. Because George and Charlotte are children, they are not required to do so while greeting the King or Queen.

source: people.com