The 59-year-old – who is the former wife of Prince Andrew and mother to Princesses Beatrice and Eugenie – joined Piers Morgan, Susanna Reid and Kate Garraway on Good Morning Britain where she opened up about how emotional she found the wedding at Windsor Castle.
"It was nerve wracking, and I was glad I didn’t trip over with those high heeled shoes on," she said.
"The minute I started to walk [from the car] I kept thinking of Diana in my heart and I thought of my mum and my father who would say, ‘Come on, the show goes on get on with it!’ He always taught me to walk tall.
"It was quite extraordinary. I really sort of looked around and thought, ‘Are they [cheering] for me?’
"And someone went, ‘Fergie’ and it was like the old Fergie was back."
"I felt that sense of support from the crowds which was very kind," she said.
"As I came around to corner [of the church], the thing that made me cry was the kind people [in the crowds] who had been so lovely, plus Jack [Brooksbank] was standing there, and coming towards me with open arms.
"It was just very moving."
During her marriage to Prince Andrew, Fergie was know for her sense of humour, bold fashion choices and friendship with the late Princess Diana.
Following her split from Andrew in 1992, she was also caught up in numerous scandals which saw her ostracised from the Royal family.
Tensions between the Duchess and the household were then highlighted when she was left off the guest list at Prince William and Kate Middleton's wedding in 2011.
Despite claims of a rift, Fergie told Piers she felt deeply honoured to be back in 'The Firm' for Harry and Meghan's big day.
"I was really happy for my friend Diana, who I love and for my mum and Dad," she added.
"I felt very, very honoured and grateful for Harry and Meghan to invite me. That is a big, big point.
"It was very kind of them and I can’t thank them enough for doing that because it was nerve wracking."
But it wasn't just the couple that she wanted to thank. She also took a moment to mention The Queen.
"Her Majesty is an incredible lady and what an icon for the country and one of the finest people in the world I’ve ever met.
"Her Majesty leads by such example… and to include me [at Harry’s wedding] was a wonderful gesture," she added.
When asked what she thinks Diana would have made of the brides and her boys [William and Harry] have chosen, Sarah smiled and said, “She’d really be so proud.
"Even before they got married, Diana would have been literally saying ‘I can’t believe these boys have done so well’.
"They are such a credit to her. I miss her.
"No one made me laugh better than her. She was hilarious.
"She had enormous compassion and she’d be so proud of Meghan and Catherine as well.
"She would want to embrace them and say, ‘You are doing so well'."
Harry and Meghan's wedding in May set the precedent for her daughter Princess Eugenie's wedding at Windsor Castle in October.
Speaking about the special day that her youngest daughter married wine merchant Jack Brooksbank, Fergie gushed about how in love they are.
"The love between Jack and Eugenie is enormous…they are twin flames… they are meant to be together," she said
"We were so proud and gosh I wanted to cry.
"To see Eugenie blossom like she has and to be so brave with her scoliosis.”
On the advice she's given to her own daughters, The Duchess said:
“I often say to my girls that I’ve been there and made the mistakes, so they know what not to do.
"But all I can say is ‘be who you are’… fifty percent of people like you and fifty percent of people don’t, get on and do what you feel and stand firm.
"Have integrity, kindness, be loving, and remember someone who opens a car door for you, remember the name of the people in the kitchen who cook you dinner, and that’s what I say to my girls.
"That’s what I believe."
Sarah joined the presenters on GMB to highlight the Streetchild campaign she is supporting. which begins today.
The campaign helps raise money for children around the world get the support they need to avoid a life of poverty or abuse.
This is the touching reason Sarah Ferguson wore green at Princess Eugenie’s wedding…
In more royal news, this is why Meghan Markle stood on a different balcony to the Queen and Kate Middleton during the Remembrance Service.
Prince Harry and Meghan Markle have lost THREE of their private staff in six monthsand experts say it's 'looking like a stampede'.
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