Prince Edward has praised the Queen's "fantastic twinkle" in a BBC special tribute aired following her death.
The Queen's son said his mum showed her sense of humour in her appearance at the London 2012 Olympic Games opening ceremony.
He described it as "the most jaw-dropping moment in any film or television production".
Meanwhile, King Charles fondly recalled how he watched his mother wearing her crown in preparation for the 1953 coronation.
Recalling the Queen's appearance at the 2012 opening ceremony, Prince Edward told the BBC: "It had the same effect on everybody that was watching. They just couldn't believe it.
"I thought it was an extraordinary moment because it just showed that fantastic twinkle and sense of humour."
The monarch starred alongside Daniel Craig's James Bond in a dramatic clip played at the start of the ceremony.
An actor playing the Queen was then filmed jumping out of a helicopter above the arena and parachuting down to the ground.
Queen Elizabeth II subsequently walked into the stadium to take her seat, sparking rapturous applause.
Princess Anne, the second and only daughter of the Queen, also shared her memories of her mother.
She told the BBC that the Queen enjoyed going away with her family as it allowed her to be out of the public eye.
Holidays were the times the Queen could go walking with her dogs in the countryside, be with her horses and spend time with her children and husband.
She said: "The holiday times were pretty well kept from our perspective, there was a lot going on in those periods.
"It was probably the times she most enjoyed. Partly because it included all the things she enjoyed."
Meanwhile, King Charles recalled watching the Queen practising wearing the crown before her coronation in 1953.
He said: "I shall never forget, when we were small, having a bath and she came in practicing wearing the crown before the coronation.
"All those sorts of marvellous moments, I shall never forget."
He also revealed how he will miss being able to speak to his mother.
"She was always there and I could talk to her about this, that or the other. That's always been something that will be very difficult not to have," Charles said.
The King paid a poignant and moving tribute to his "darling Mama" in his first public broadcast as monarch today.
Charles said: "We owe her the most heartfelt debt any family can owe to their mother; for her love, affection, guidance, understanding and example".
He added, acknowledging the sad loss of the Queen's husband the Duke of Edinburgh just 17 months ago: "To my darling Mama, as you begin your last great journey to join my dear late Papa, I want simply to say this: thank you.
"Thank you for your love and devotion to our family and to the family of nations you have served so diligently all these years. May 'flights of Angels sing thee to thy rest'."
The King pledged his whole life as service as the new sovereign just as the Queen did, saying: "That promise of lifelong service I renew to you all today".
And he used his speech to announce that he had created his son William the Prince of Wales, with Kate the Princess of Wales.
He also said he loved Harry and Meghan as they continued to build their lives overseas.
He described it as a "time of change for my family" and paid tribute to his "darling wife" Camilla - calling her "my Queen Consort".
You can leave your tributes to Queen Elizabeth II here
He could, he said, "count on her loving help", praising her by saying: "I know she will bring to the demands of her new role the steadfast devotion to duty on which I have come to rely so much."
The King, who was often accused of meddling through his lobbying as the Prince of Wales, also set out his changing role, as he steps away from his considerable charity work which shaped his life as the heir to the throne.
"My life will of course change as I take up my new responsibilities. It will no longer be possible for me to give so much of my time and energies to the charities and issues for which I care so deeply. But I know this important work will go on in the trusted hands of others," he said.
* This weekend, the Daily Mirror and Sunday Mirror celebrate the life of Her Majesty the Queen with a commemorative special filled with all the key moments from Britain’s longest reigning monarch. Be sure to pick up your copy of the Daily Mirror and Sunday Mirror to get poth pullouts.
