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Kate Middleton said goodbye to King Charles with kisses on the cheek and a curtsy after the funeral of the Duchess of Kent

The King and the Princess of Wales have a close bond, and the monarch previously referred to Kate as "my beloved daughter-in-law"

Royal biographer Sally Bedell Smith previously told PEOPLE, "I don’t think it is presumptuous to say that she is like the daughter he never had"

Kate Middleton and King Charles ' bond was on display at the funeral of Katharine, the Duchess of Kent.

Following the historic Catholic mass for the Duchess of Kent on Tuesday, Sept. 16, the royal family members gathered on the steps outside Westminster Cathedral as her coffin was moved into a hearse. Just before the King went to his car to depart, Princess Kate said goodbye

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