William and Kate visited the nation for the first time since taking on their new titles this week with the Royal couple now known as the Prince and Princess of Wales.
The pair travelled to Anglesey, where they lived for three years after getting married, and later Swansea.
With the passing of Queen Elizabeth II changing several roles within the Royal household, with Charles becoming King and Camilla Queen Consort, Camilla is said to have forged a strong position in the Royal Family despite a not-so easy start.
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However a new book has suggested that she still has a slightly more withdrawn relationship with some members with William, according to the Express, making it clear that she is "not a step-grandmother to his children."
Writing in her new book 'Camilla: From Outcast to Queen Consort ', Angela Levin explains how the royal has managed her relationship with both King Charles' children and grandchildren over the years.
Ms Levin said that "William has made it clear that Camilla is the wife of his father, but not a step-grandmother to his children".
Ms Levin also looked at how Camilla approached William and Prince Harry after she married Charles in 2005. She continued: "William and Harry were 23 and 20 respectively when Camilla officially became their step-mother in 2005. She was more of a friendly grown-up they saw occasionally at royal gatherings. She tried to be encouraging rather than influential.
"Nor has she tried to take over any responsibility as a step-grandmother to the Cambridges' children, Prince George, Princess Charlotte and Prince Louis, especially as Catherine's parents, Carole and Michael Middleton, are so close."
Camilla's arrival into the royal fold came after the tragic death of Princess Diana. Charles had been having an affair with Camilla, meaning she did not receive the warmest welcome from the public.
In her book 'The Palace Papers', Tina Brown wrote that William and Harry "tolerated" Camilla but never warmed to her. Ms Brown explained how, in 1996, Charles hired Mark Bolland, a public relations executive, to help improve his image.
Mr Bolland also helped Camilla "win acceptance" from the public with his links to the newspaper industry, the boom claimed.
Ms Brown wrote: "One carefully managed myth peddled by Bolland was that the boys had warmed to Camilla. But they tolerated her at best.
"In his early thirties, Harry was still complaining bitterly to friends that Camilla had converted his old bedroom at Highgrove, Charles's Gloucestershire estate, into an elaborate dressing room for herself."
In her book 'Prince William: Born to be King', Penny Junor quotes a royal source who discussed how William's view of Camilla has changed over the years.
They said: "I think the relationship between them all is warm now but if I'm honest, it wasn't then. I think they found it hard.
"To be fair to Camilla, she never tried to be mummy but she was the 'other woman' and she was there and taking daddy's time."
Meanwhile, a source told the Daily Mail: "There were huge family rows in the early stages of Charles and Camilla's marriage as everyone found their feet. William didn't have the best relationship with his father back then."
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