The Queen’s right-hand woman is writing a book about their relationship to give the public an inside view of the goings on of the palace.

Angela Kelly, who has served as the Queen’s personal assistant for 25 years, is penning a memoir about her life and her work with Her Majesty.

Queen Elizabeth has granted Kelly personal permission to write the book, which marks the first time that a serving member of the royal family has been given such permission.

The book will include never-before-seen photographs, details of their private moments and their bond, which started as employer and employee and is now a strong friendship.

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Samantha Cohen, former assistant private secretary to the Queen, explained: "The books documents the unique working relationship between Her Majesty The Queen and the woman who has been her Personal Assistant and Senior Dresser for more than two decades: Angela Kelly."

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"It gives a rare insight into the demands of the job of supporting the Monarch, and we gain privileged insight into a successful working relationship, characterised by humour, creativity, hard work, and a mutual commitment to service and duty. Angela is a talented and inspiring woman, who has captured the highlights of her long career with The Queen for us all to share."

Kelly became the queen’s first ever personal assistant in 2001, where she accompanied her on foreign visits and travels to Buckingham Palace and Windsor Castle.

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She is behind the queen’s public image and style - Kelly even makes some of Her Majesty’s clothes herself, including the lemon-yellow ensemble she wore to the wedding of the Duke and Duchess of Cambridge.

Kelly has previously discussed her relationship with the Queen, as she told the Telegraph in 2007: "I don't know why the Queen seems fond of me - because I don't give her an easy time! I do think she values my opinion, but she is the one who is in control. She always makes the final decision."

"We are two typical women. We discuss clothes, make-up, jewellery. We say, 'Would this piece of jewellery look nice with that outfit?' and things like that."

The Other Side of the Coin: The Queen, the Dresser and the Wardrobe is published 29 October and the audiobook, which will be read by Kelly, will be released on the same day.

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