Lady Anne Glenconner is revealing what her life as lady-in-waiting to Queen Elizabeth II's younger sister, Princess Margaret, was like! Ahead of the U.S. release of her sensational new memoir, titled Lady in Waiting: My Extraordinary Life in the Shadow of the Crown, Glenconner has given People an exclusive glimpse into her time as Margaret's friend and personal confidante!

"Often when we did official things, funny things happened," Glenconner said, reflecting on her friendship with Margaret. "That was the point of having a friend as a lady-in-waiting once we were alone we could laugh. I never laughed so much. We would roar with laughter".

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Lady Anne Glenconner arrives for the service to celebrate the 60th Anniversary of the Queen's Coronation on June 4th, 2013.

Glenconner reflects on "most precious moments" with Margaret

Glenconner shares that despite the glamour of the royal lifestyle, the moments with Princess Margaret she treasured most were in actuality some of the simplest times. "My most precious moments were when we were just together, enjoying our life," Glenconner revealed. "Without our husbands".

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She went on to talk about what some of these moments spent alone with Margaret looked like. "We used to go for walks and to the beach, or we would garden," Glenconner said. "She used to lay my fires because I wasn’t a Girl Guide!" According to People, Glenconner's memoir, which is already hugely successful in the United Kingdom, will also see her talk about her extraordinary upbringing and relationships.