MEGHAN Markle’s first joint engagement with Queen Elizabeth has been a success, with the new royal BFFs in high spirits as they visited Cheshire on Thursday.

But while their trip was a hit with locals, footage has surfaced showing the Duchess of Sussex slipping up on royal rules during one hurried moment.

A video posted to Twitter by UK radio station LBC shows a flustered Meghan appearing confused over who should get into the car first.

The footage, which was filmed on Thursday morning as the pair arrived at Runcorn Train Station, showed Meghan quickly cutting in front of the 92-year-old so she could get into the car first.

While royal protocol dictates that Meghan must walk behind the monarch, it’s been a decades-long preference of the Queen to sit behind the driver’s seat, etiquette expert William Hanson explained.

“This is just a case of habit not protocol (protocol actually says the most important person sits diagonally behind the driver) but the Queen has always preferred being directly behind whoever is driving her,” he told Mailonline.

“Meghan was probably not aware of this and the royal household may have forgotten to brief the Duchess of Sussex in this nuance.”

Twitter users empathised with Meghan’s flustered moment, with several suggesting her hurried movement was to prevent the elderly royal any discomfort getting into the car.

Meghan’s slip up comes as she continues to receive “duchess lessons”.

Last month People reported Meghan was being instructed by one of the Queen’s most trusted aides, Samantha Cohen.

Cohen had previously served as Queen Elizabeth’s assistant private secretary, but is now working as Prince Harry’s interim private secretary.