The Queen only broke royal protocol one time

Footage has reemerged of the one and only time the Queen broke royal protocol. Watch below:

And since then, people have been sharing their favourite and most striking memories of the 96-year-old from her time on the throne.

However, Queen Elizabeth II threw the rules out the window on one occasion.

Following the death of Princess Diana in 1997, she came out of Buckingham Palace to join huge crowds of people watching Diana's coffin as it made its way to Westminster Abbey.

And while it's against the 'rules' to do so, the Queen bowed, for the only time in her life.

Alberto Angela, who hosted the documentary series Ulisse, said Diana's death was one of the Queen's most profound moments.

"There is an image captured on the day of Diana's funeral which is highly symbolic," he said.

"We are in front of the Buckingham Palace gate. It is known that before the Queen, who is the symbol of national unity, everyone bowed.

"But that day, it is Elizabeth who bowed her head as a sign of respect for the passage of Diana's coffin, the woman who wore more than anyone else had defied the conventions of the palace."

Angela said the image of the Queen bowing her head was one of the 'strongest' images of that time.

He added: "Even in the darkest hour, Elizabeth put her mission first and demonstrated that she can find inspiration even from the most painful confrontation, the one with the woman who had won the hearts of her subjects.

This comes after the Royal Family confirmed the news that the Queen had died peacefully at her home in Balmoral, Scotland.

In a statement from its official Twitter account, the Royal Family said: "The Queen died peacefully at Balmoral this afternoon.

Following the announcement, thousands of mourners gathered outside the gates of Buckingham Palace to pay their respects to the monarch who reigned for 70 years.

As silence fell among the crowd, people burst into song, performing an emotionally-charged rendition of 'God Save The King'.

The touching moment came hours after it was announced that the Queen was 'under medical supervision'.