Footage from the visit was aired today, and many of the This Morning team spoke to camera about their one to one chats with the couple.
The Speakmans, a husband and wife team who appear on the show to help people get over fears, revealed something surprising about Camilla.
They revealed how Camilla, 70, has a fear of flying – and they even offered to help her get over it.
Speaking about their chat to Charles and Camilla, the Speakmans said: “Can you believe that the Duchess admitted that she’s not too keen on flying!
“So we did obviously tell her that if she’d like our help – on the show obviously – we will help her.”
As well as admitted her fears, Camilla revealed her guilty pleasure while making her visit, revealing she is big fan of Strictly Come Dancing.
Praising Ruth Langsford for her turn on the show last year, she said she thought the judges were very harsh on the TV presenter.
“You did so well on Strictly,” she enthused. When Ruth asked Camilla what she though of judges Shirley Ballas, Bruno Tonioli, Darcey Bussell and Craig Revel Horwood, the royal teased: “I thought they were really mean.”
All of the This Morning presenters had a chance to meet the royal couple, and one even broke protocol by kissing Camilla.
Eamonn Holmes, 58, broke royal protocol by giving the Duchess of Cornwall a kiss and a hug – normally not allowed when meeting the Royal Family.
There was much excitement in the studio over the visit, and two of ITV’s biggest names even jostled for position to meet the royals first.
Piers Morgan and Eamonn Holmes both wanted to be at the front of the queue. Piers said: “Eamonn is pulling the MBE stunt. So he is trying to muscle to the front.
“But I think given that I have met more of the royals more often than anybody else, I should be at the front. But at the moment there is a bit of argy bargy.”
The royals were in the ITV studio to celebrate thirty years of This Morning being on TV.