Sarah Ferguson shared the beautiful advice the late Queen gave to her, while appearing on The One Show.
The Duchess of York, 63, said the Queen told her to always be kind as that will defeat malice, as shared her admiration for the monarch.
The former royal also reminisced over going for walks with the Queen and her corgies, who the Duchess and ex husband Prince Andrew adopted, joking she's nervous when taking them for walks, as they are "national treasures."
The star also spoke fondly of King Charles and how he will continue to represent his mother's value system.
She told Alex Jones and Jermaine Jenas: "I remember she used to say 'Sarah there needs to be more kindness in the world, which would disarm malice.
"And I feel it's really important we should all stop for a minute and remember those words with respect and affection for a great leader and now has passed it on to another great leader in her son."
She earlier said of walking the Queen's corgies: "I really love when I'm with them actually, I really think about HM and I just think about the value system she supported in this country and how the nation mourns her.
"But yet how exciting we move on to a new monarch and the coronation, and I think so important for the whole country to unite and uphold the value system that for 72 years the monarch gave us all."
Sarah appeared on the show to speak about her second romance novel, A Most Intriguing Lady, who by day is a well mannered lady, but at night turns into a super sleuth.
Jermaine asked whether the novel was inspired by one of the Duchess' ancestors, and why she decided to investigate her lineage.
Laughing, the mum-of-two replied: "Well I thought I'm resilient, feisty, volatile, tricky and all the other things, humorous and strong, and I'm still here, so I thought it must be in the DNA.
"So I went back in my DNA and I found Lady Margaret and then Lady Mary, they had written about all her brothers but they had never written about her, because she was a woman."
The Duchess was married to the Queen's son, Prince Andrew, between 1986 and 1996 but despite their divorce, she maintained a tight bond with the Sovereign.
Speaking to the Mirror, the philanthropist said: "We are all missing the Queen enormously – her passing has left a real void in the family.
"As she herself said, 'grief is the price we pay for love.'"
Discussing how she kept her mind occupied following her death, Sarah explained: "Writing is very therapeutic for me as it is pure escapism."
