The former rugby player split his trousers while dancing with the Princess Royal at Zara's 30th birthday.
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Royal Family members like Charles and William have been appearing alongside the Queen for several years.
Zara Tindall, the Queen's granddaughter, gets a coronavirus antibody test in the advert for a VHealth passport.
Some of Charles's letters are up for auction and show how he felt after his 1994 interview with Jonathan Dimbleby.
The Princess Royal said her conversations with Charles about farming were "short".
Peter Phillips, the Queen’s grandson, is seen advertising Jersey Cattle milk in a Mandarin-language advert.