Roman Kemp appeared on Wednesday’s episode of ITV’s Loose Women to talk about his experience with Kate, the Princess of Wales.

Speaking to the panel, he discussed the moment that the Princess of Wales left him shocked as she opted to go barefoot when visiting the home of his famous parents.

Recalling the story he said: “Firstly, when she came over to my parent’s house, she ended up taking off her shoes. Which I thought was really polite.”

He then paused for a moment before joking: “It was really nice because out of anyone that you’d be like ‘yeah don’t worry about it’”

The audience joined in the laughter before Denise Welch said: “Yeah but your parents clearly live in the New Forest, so she probably did have mud on her shoes,” which sent Roman into hysterics laughing.

Roman, 30, teamed up with Kate, 41, earlier this year to record a video about mental health.

Kate had reached out to him after his BBC documentary Roman Kemp: Our Silent Emergency, which explored the mental health crisis affecting young men.

He told The Times that receiving that call from the royal was both “weird” and an “honour”.

He said: “We had a Zoom call, just her and me,”

“And she was like, ‘Oh, you know, I can come over to your place and do it there.’ And I just said, ‘No, let’s go to my parents.’ It’s a bigger house. I don’t want to bring royalty to a flat in Vauxhall.”

The son of pop stars Martin Kemp and Shirlie Holliman added: “We were sitting at the kitchen counter, with my mum and dad and my sister with all the dogs, and Kate was there with us.

“The funniest thing was she didn’t have any shoes on because she was respectful enough to take her shoes off at the door. That really stuck in my head because you never see royalty with no shoes.”

In a video released on YouTube at the start of the year, the duo can be seen wrapped up against the winter chill whilst they walked and talked about mental health, relationships and how by nurturing children in the earliest years of their lives, society can build a nation of healthy, happy adults.

The video is part of the Princess’ Shaping Us initiative, which she’s described as her “life’s work” and is aimed at raising the profile of early years development of children.

Roman isn’t the only famous face that has offered support for the royals project, Fearne Cotton, Zara McDermott and Professor Green have all been involved.

Loose Women airs on weekdays at 12.30pm on ITV and ITVX.