The former First Lady said: “What is true among world leaders is that there are people who handle protocol, and usually the people they’re representing don’t want all that protocol. So you wonder well who are you doing this for because they don’t want it, we don’t want it. But it’s just the way things are.
“So I don’t know that I could have done anything differently because it was a natural human reaction.”
Mrs Obama then went on to explain her views on the social conventions that regulate meetings of world leaders.
She said: ”I learned over the course of my time on the international stage to see that either hold my hands together tightly or behind my back to sort of kind of just make sure I was thinking before I reacted naturally.
“But in that moment, no.
Michelle Obama has discussed meeting the Queen on her latest book tour (Image: GETTY)
The Queen meeting Michelle and Barack Obama (Image: GETTY)
“That was absolutely the right thing to do, because it was the human thing to do.”
But the Queen is apparently not one for royal protocol either, according to Mrs Obama.
Writing in her new autobiography, Becoming, Mrs Obama said: “We were briefed on the protocol ahead of time: We’d greet the Royals formally before getting into their vehicle to make the short drive.
“I’d sit in the front next to ninety-four-year-old Prince Philip, who would drive, and Barack would sit next to the Queen in the back seat.”
The former First Lady went on to explain how the Queen subverted royal protocol in a rare act of disobedience.
Michelle Obama with the Queen of Spain Letizia Ortiz (Image: GETTY)
She said: “After we’d touched down in a field on the palace grounds and said our hellos, however, the Queen abruptly threw a wrench into everything by gesturing for me to join her in the back seat of the Range Rover.
“I froze, trying to remember if anyone had prepared me for this scenario, whether it was more polite to go along with it or to insist that Barack take his proper seat by her side.
“The Queen immediately picked up on my hesitations and was having none of it.
“‘Did they give you some rule about this?’ she said, dismissing all the fuss with a wave of her hand.