There was a lot going on yesterday, March 11, as the entire royal family celebrated Commonwealth Day. One small detail that may have gone unnoticed, though, was all the curtsying that took place.

Kate Middleton, 37 and Meghan Markle, also 37, arrived separately with their husbandsPrince William and Prince Harry, respectively —  in tow, but both showed their respect for Queen Elizabeth when the 92-year-old monarch arrived to the festivities.

At the 12:40 mark of the video below, the ladies — as well as Camilla, Duchess of Cornwall — curtsied simultaneously when the Queen entered Westminster Abbey. After greeting guests, she turned toward her family at the 13:30 mark and the trio all bowed once more.

“There is no hard and fast rule [about curtsying],” a palace insider told People, noting that there’s “a lot of nonsense” said about it. “There is nothing written down about this, even for members of the royal family. People normally just do what they feel comfortable with.”

Turns out it’s not even required for regular folks in the presence of the Queen. The insider added: “Even when a member of the public doesn’t curtsy, the Queen doesn’t take offense.”

It wasn’t just the Queen that received a warm welcome. When Prince Charles entered, Kate gave him a double kiss while Meghan curtsied before offering the same gesture. This happens from about 8:35 to 8:50 in the above video.

Kate Middleton, Prince William, Prince Harry, and Meghan Markle on Commonwealth Day
Getty Images

As she stood beside William, many noticed that Kate’s red coat dress was a royal rewear. Elsewhere, some were scratching their heads as to why Meghan’s lacked the engagement ring Harry gave her.

Before and after the formal Commonwealth Day activities, the duchesses attended events holding significant meaning for each of them. Earlier in the day, Meghan donned an embellished green coat celebrating Canada and her mom as she and Harry learned how to make maple taffy. Kate later stepped out, sans William, in a purple blouse and black pants to support local families.

We can’t wait to see what this duo gets up to next!