Meghan MarkleandKate Middletonhad plenty of chances to show off their curtsies on Monday!
The royal women and their husbands, Prince Harry andPrince William, were on hand to celebrate Commonwealth Day at a Westminster Abbey service on Monday. After arriving separately, Kate and Meghanexchanged a friendly kisson the cheek as they greeted each other inside, while the brothers shook hands. They then chatted asPrince Charlesand Camilla, Duchess of Cornwall, made their way in.
While Kate greeted her father-in-law with a double kiss on the cheeks, Meghan appeared to dip into a curtsy before giving him the same friendly hello.
A palace insider says, “There is no hard and fast rule [about curtsying]. There is such a lot of nonsense published about this. There is nothing written down about this, even for members of the royal family. People normally just do what they feel comfortable with.”
The insider adds: “Even when a member of the public doesn’t curtsy, the Queen doesn’t take offense.”
Myka Meier, founder and director of Beaumont Etiquette, previously told PEOPLE that Meghan is expected to curtsy toQueen Elizabeth,Prince Philip,Prince Charlesand Camilla. However, it’s uncommon to see members of the immediate family bend and bow to Charles. (It’s also possible Meghan’s curtsy was merely a minor slip-up.)
Camilla, Duchess of Cornwall, Kate Middleton, Prince William, Prince Harry, Meghan Markle and Prince Charles.

Kate, Meghan and Camilla all showed their respect for the Queen when she entered Westminster Abbey, dipping into a practically synchronized curtsy – however, she wasn’t looking in their direction.
Eagle-eyed royal fans noticed that all of the women bowed again after the 92-year-old monarch greeted a line of guests. Meghan and Camilla bowed, then Kate did the same after the Queen greeted her eldest son.
The couples then filed behind her for their procession to their seats.
Greeting the Queen.

Meghan and Camilla’s second curtsy.

Kate’s second curtsy.

Meghan made a quick change from thegreen Erdem coat she wore earlier in the dayinto a cream coat over a printed dress with a matching pillbox hat. Kate opted for her red Catherine Walker coat dress, which she wore in New Zealand in 2014. She topped it with a matching fascinator.
Kate Middleton and Prince William.BEN STANSALL/AFP/Getty

Meghan Markle and Prince Harry.Tim Rooke/REX/Shutterstock

Samir Hussein/WireImage

Earlier in the day,Harry and Meghan celebrated with a group of Canadiansat Canada House in London, where the royal couple met with a group of kids who taught them how to make special maple candy.
source: people.com