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Harry returned to the UK for the first time since moving to the US to attend his grandfather’s funeral in April.
The insider added the funeral also provided an opportunity for Harry to "spend precious moments" with the Queen.
"To see each other after so long apart, the longest he hadn’t seen the Queen for, was very special,” a source told Scobie and Durand.
"Despite everything that has happened, he has the utmost love and respect for her. Her life of duty and service is one of the many ways in which she has inspired him to also serve.”
Finding Freedom also shone a light on Harry and Meghan’s interview with Oprah Winfrey in March, Meghan’s "emotional healing journey" after suffering a miscarriage last summer and the couple’s "heartbreak" over the death of Prince Philip.
The book comes after it was revealed that the father-of-two would be publishing a memoir next year.
In a statement released by publishers Penguin Random House, Harry said: “I’m writing this not as the prince I was born but as the man I have become.
“I’ve worn many hats over the years, both literally and figuratively, and my hope is that in telling my story—the highs and lows, the mistakes, the lessons learned—I can help show that no matter where we come from, we have more in common than we think.
“I’m deeply grateful for the opportunity to share what I’ve learned over the course of my life so far and excited for people to read a firsthand account of my life that’s accurate and wholly truthful.”