Lady Glenconner has been speaking about her "extraordinary life in the shadow of the crown".
The 87-year-old, who was born Lady Anne Coke and brought up at Holkham Hall in Norfolk, has written her memoir 'Lady in Waiting'.
It tells the story of how she grew up around the royal family, was picked as a Maid of Honour at the Queen's Coronation in 1953 and became Lady in Waiting to Princess Margaret.
Lady Glenconner is the eldest child of the fifth Earl of Leicester.
She is set to appear as a character in Netflix series The Crown - and her close friendship with Princess Margaret led to Helena Bonham Carter turning to her for advice about how to play the princess on screen.