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The first programme will be screened tonight on BBC1 at 9pm.The comments by Lady Kennard come in the second programme to be shown next Wednesday.
Lady Kennard, a distant cousin of the Queen, used to live next door to her in Belgravia as children and shared a passion for horses.
One of Lady Kennard's grandfathers was Grand Duke Michael of Russia and the other was Julius Wernher, the South African diamond millionaire.
Her parents, Sir Harold and Lady Zia Wernher, owned Luton Hoo where they used to entertain the Queen and Prince Philip on their 1947 honeymoon and subsequent anniversaries.
Lady Kennard was said to have been one of Prince Philip's girlfriends before he caught the Queen's eye.
The truth about the Queen's strained relationship with Princess Diana is to be revealed by a major BBC documentary sanctioned by Buckingham Palace.