Meghan Markle and Queen Elizabeth II share a moment of confusion during their first-ever joint engagement in Cheshire.

The new Duchess of Sussex looked relaxed and comfortable in the company of Her Majesty, and the pair laughed together while visiting the town on an official royal visit.

The Queen made sure to make Meghan feel welcomed into the royal family by chatting with her during their visit and giving her tips on royal protocol as they prepared to get into the monarch’s waiting Bentley.

In an awkward moment captured by an LBC reporter, Meghan offered to let the Queen get into the car first before suggesting they switch places and asking the Queen for her preference.

It is believed that Meghan offered to let the 92-year-old go first because she prefers to sit behind the driver’s seat.

However, footage suggests that Meghan was told to go in before the Queen, leaving the Duchess of Sussex flustered.

Etiquette expert William Hanson told Mail Online that the Queen always sits behind the driver, but this is just a habit and not protocol.

Protocol actually dictates that the most important person sits diagonally behind the driver, but the Queen has always preferred being directly behind whoever is driving her.

It is possible that Meghan was not aware of this nuance, and the royal household may have forgotten to brief the Duchess of Sussex.

Despite the awkward exchange, Meghan’s gesture of considering where the Queen would like to sit was a considerate one.

The pair had travelled overnight on the royal train for a day of engagements, including the opening of the Mercy Gateway Bridge and Story House in Chester.

After arriving at the station shortly after 10:30 am, they were escorted towards the car, with the Queen eventually settling into her seat where an aide covered her with a blanket to keep warm.

The joint engagement marked Meghan’s first official appearance with the Queen, and the new Duchess appeared to be adjusting well to life as a full-time royal.

The Queen made sure to chat with Meghan during their visit, and the pair seemed to enjoy each other’s company.

Meghan looked relaxed and at ease, despite the pressure of her new role.