Prince Philip was married to Queen Elizabeth II for an incredible 73 years. Unfortunately, he passed away this year at the age of 99.

It's no surprise that the two royals, like in any other marriage, had some points of contention and differing opinions. Now, the new Prince Philip BBC film revealed what bothered the Queen about her husband.

Prince Philip loved to fool around with his grandchildren

One thing is for sure: Prince Philip could be a real joker and he liked to have fun with his grandchildren. He was certainly one of the less formal royals, and his grandkids recalled one joke involving mustard that Philip particularly enjoyed:

"He used to take the lid off and put (the mustard bottle) in your hands," Prince William said. "And then he'd squish your hands together to fire the mustard into the ceiling."

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Prince Philip

The Queen didn't think this prank was funny at all, it turns out. "He used to get in a lot of trouble from my grandmother," Prince William recalled in the new BBC film, Prince Philip: The Royal Family Remembers.

Royal Family memories of Prince Philip

Zara Tindall and Peter Philips, the children of Princess Anne, can still remember the mustard prank very clearly.

"It went all over the ceiling," Zara said, and her brother agreed. "I actually think the marks are still there," Peter said.

Prince William chimed in: "He enjoyed those jokes, he enjoyed messing around the children and being a grandfather."

Though Philip's antics could irk the Queen, they did share a sense of humour on one topic: when something went wrong! William explained:

"They've lived a life where everything has to go right the whole time and so, when things go wrong, they both chuckle an awful lot. Everyone else gets mortally embarrassed. They love it."

Meanwhile, Prince Harry admitted: "More than anything I miss his humour." But he continued: "I miss him more for my grandmother because I know how incredibly strong she was with him there."

"I also know that she's gonna be OK without him," Harry added reassuringly.

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