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Prince Harry has opened up about his relationship with his stepmother Camilla, putting to bed any rumours of bad blood between the two.

In new comments from a tell-all biography, the Duke of Sussex insisted that Camilla is not a “wicked stepmother” and said that royal fans should instead “feel sorry” for the 71-year-old.

In the heart-warming comments, Harry even declared his love for the Duchess of Cornwall – proving that he has forgiven Camilla for her affair with his father while Prince Charles was married to Princess Diana.

In comments revealed by Harry said: “To be honest, she’s always been very close to me and William.”

“She’s not a wicked stepmother. Look at the position she’s coming into. Don’t feel sorry for me and William, feel sorry for her.

“She’s a wonderful woman and she’s made our father very, very happy, which is the most important thing. William and I love her to bits.”

Prince Charles and Camilla, who have been married for 13 years, have a complicated history together.

The pair met when they were young, and both went on to marry other people, with Camilla marrying Andrew Parker-Bowles in 1973 and divorcing him in 1995.

Charles married Princess Diana in 1981, and the couple had Prince William and Prince Harry together.

When Camilla joined the royal family and wed Charles in 2005, Harry knew it wouldn’t have been an easy transition for her.

In a different biography Harry: Conversations with the Prince journalist Angela Levin revealed how Harry understood his stepmother’s difficult position.

"Since he was a small child he has been able to see things from other people's points of view," wrote Levin.

In a TV interview, Charles spoke warmly of Camilla and how she coped with the challenges they faced as a couple.

“It's always nice to have somebody on your side. She is an enormous support, and sees the funny side of life, thank God," he said on CNN.

"You can imagine it is a real, real challenge. But she's, I think, been brilliant in the way she's tackled these things.

"It's always marvellous to have somebody who, you know, you feel understands and wants to encourage," he added.

"Although she certainly pokes fun if I get too serious about things. And all that helps."