Kate's comments about the queen's relationship with Prince George and Princess Charlotte, were made ahead of her 90th birthday in 2016.
"On Thursday, the world lost an extraordinary leader, whose commitment to the country, the Realms and the Commonwealth was absolute. So much will be said in the days ahead about the meaning of her historic reign," he said in an official statement.
"I, however, have lost a grandmother. And while I will grieve her loss, I also feel incredibly grateful. I have had the benefit of The Queen's wisdom and reassurance into my fifth decade. "My wife has had twenty years of her guidance and support. My three children have got to spend holidays with her and create memories that will last their whole lives.
"She was by my side at my happiest moments. And she was by my side during the saddest days of my life. "I knew this day would come, but it will be some time before the reality of life without Grannie will truly feel real."and then committal service for the queen in September.
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