'She got her sense of humour from her father': The Queen's funny side

Slow, vertical and with a slight twist, no one waved quite like our Queen.

Those stints from the balcony remained classy and oozed decorum until the end.

But as time went on it was obvious Her Royal Majesty saw humour in what she had to do.

READ MORE: The King's former Aussie classmates reveal what he was really like

She was a "Bond Girl", shared a marmalade sandwich with Paddington Bear and loved a good jibe, like the time she referred to a helicopter as sounding like "President Trump".

"The Queen's mother was very staid; very serious, so I imagine she got her sense of humour from her father," royal commentator Russell Myers said.

"He was the person who shaped her personality."

To enjoy more of the Queen's lighter moments, watch the full video above.