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Philip, 94, and the Queen, 89, were just arriving at the Berkshire racecourse and about to go underneath the main stand in the royal carriage procession when they spotted Andrew bowing solemly and Fergie curtseying among the crowd.
Fergie and Duhamel, 40, married in 2009 after dating for more than four years.
“She deserves a medal.” star opened up about how they celebrated their anniversary a little early.
Watch the video below to see what Duhamel told ET about how his son Axl takes after his mom.
They see each other most days if they are in Britain together and go on regular holidays with their daughters.
There has even been talk of them remarrying – a suggestion sources close to the couple deny – but friends of the Duchess have said she knows there will be no chance of a full return to the royal fold, certainly while Philip is alive.