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Prince William: Ireland visit 'huge turning point' for Queen
Prince William has described the Queen's pleasure at being able to visit the Republic of Ireland for the first time, in May 2011.
Prince William told Andrew Marr that for many years his grandmother had felt "almost like a child not allowed to go into a certain room".
The second episode of the three-part BBC One series, The Diamond Queen, was broadcast at 21:00 GMT on Monday 13 February.
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