THE King and Prince William got just as much out of meeting mourners queueing to see the Queen lying in state as the crowds did, according to a body language expert.
Judi James said today's impromptu walkabout in Lambeth, south London, was just what everybody involved needed to "re-energise".
Charles, 73, and William, 40, surprised those in line for Westminster Hall this afternoon.
Cheers erupted as the monarch and his son arrived to thank people for waiting up to 26 hours to pay their respects.
Author Judi said the King looked "overwhelmed" by the outpouring of love from royal fans, while the Prince of Wales appeared more at ease.
But the "shared gestures of sympathy and affection provided a much-needed shot in the arm" for the monarch, Wills and the public.
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Judi said: "This impromptu visit to the crowds forming the queues to pay their respects was not only a way of re-energising and motivating the members of the public who have been waiting in the cold for many hours.
"The boost appeared to be mutual, with the shared and exchanged gestures of sympathy and affection clearly providing something of a much-needed shot in the arm for both Charles and his son."
She said the King connected with the crowds in a "very intimate way" that increased as his confidence did.
"Being emotionally giving or open in public is not his forte, but he was soon reaching out, up and into the crowd, touching and being touched, with the handshakes soon turning into a variety of different touch rituals to share the grief," Judi added.
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"He often appeared slightly overwhelmed by the response, glancing round to check his team were still behind him so he could continue with this wave of love."
Meanwhile, William "immersed himself physically", chatting, smiling and laughing "as though he were talking to old friends".
"He clearly resonated with people who remembered the way he and his brother greeted the crowd after their mother died," Judi added.
"Women were clasping his hand in both of theirs to offer maternal-looking condolences.
"And when one woman leaned out to place a hand on his arm and back, his positive response meant she kept the hand there as though consoling a relative of her own, rubbing his back and arm gently with no sign of anything other than quiet gratitude from the prince."
This impromptu visit was not only a way of re-energising and motivating the members of the public – the boost appeared to be mutual.
Hundreds of royal fans in line along the River Thames applauded as Charles and William emerged together.
Many took photos and pressed against the metal barriers, eager to exchange a word with the pair.
The father and son shook hands with those closest and smiled and waved at those in the back to shouts of "God Save the King" and "God Save the Prince of Wales".
It comes as…
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- The list of 500 heads of state and dignitaries attending the Queen's funeral is revealed
- A man is tackled to the ground after grabbing the flag at Westminster Hall
One person told Wills: "You'll be a brilliant king one day", before he said to another: "It really means a lot that you're here."
And at one point, he warned royal fans "it's very emotional when you get in there" as he prepped them for stepping foot inside the Palace where his grandmother's coffin lies.
Wait times stretched to more than 25 hours overnight as thousands braved cold temperatures to see the Queen lying in state.
In the early hours, the Department for Digital, Culture, Media and Sport's (DCMS) warned mourners not to make the journey until further notice as Southwark Park was "near total capacity".
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The gates reopened at around 9am, but those already in line were urged to brace for cold weather, as temperatures dipped below 7C.
Undeterred, a steady stream of people joined the queue, many wearing coats and jumpers and wrapped up in blankets.
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