Amanda Holden praised the "forever friendships" made by mourners who were queueing for hours to pay their respects to the Queen lying in state.
The radio host said that it was a "privilege" to talk to members of the public who faced 11-hour queues this weekend.
Wearing a lilac dress and tailored blazer, the 51-year-old gazed at Westminster Hall - where the Queen's coffin has been open for public viewing.
"My privilege to talk to some of you queuing and coming out of Westminster Hall this morning. The atmosphere and camaraderie was incredible .. friendships forged forever in shared grief .." she captioned the video.
Amanda also reported live from the scene for Heart Radio, where she described the mood to Jamie Theakston in the studio.
"We're at the end of the queue Jamie, so I'm getting to see quite a lot of emotional people coming out. Everybody's quite sombre but the celebratory aspect of it is there's been so many friendships in that queue."
Standing in front of a group of people, she said: "There's about eight people all together and you all met in the queue, is that right?"
Speaking to one women, Amanda said: "Brenda, they said you were like the mummy of the group," to which the woman responded: "yeah I was leading everyone, basically just saying 'is everyone there?' 'is everyone ok?'"
Another member of the group said: "We'd be lost without each other. We've all got each other through, we've had highs and lows.
The group said that they had been waiting 11 hours to see the Queen's coffin.
One of the men in the group told Amanda: "It's silent, you just walk down, you see the guards, you see the coffin of the Queen and it's just emotional. You're only there for two or three seconds but it just brings so much emotion into you."
After the news broke that the Queen had passed, Amanda shared a photo of the royal with the touching caption: "I think we all thought our Queen would live forever… Her grace ,good humour and indomitable spirit.. embodied everything that made Great Britain , Great . I just can’t imagine our country without her .. My thoughts are with her family."
Thousands of well-wishers have travelled across the country and from around the world to bid farewell to Her Majesty.
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The queue's route snakes along the Thames, starting in Southwark Park and passes landmarks like Tower and London Bridge.
The line is being policed by hundreds of stewards and officers from the Metropolitan Police.
The King and the Prince of Wales have been out greeting members of the public on the Albert Embankment, shaking hands and thanking people for coming.
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