The royal's faux pas occurred when Meghan took to the stage, and co-founder Kate Robertson approached her.
What followed was an incident which showed the duchess's warm-hearted side, as she held out her arms for a friendly hug, just as Kate attempted an awkward curtsy.
The touching moment between the friends continued, as Meghan laughed and hugged Kate, who hurriedly stood up, and rubbed her back in a sign of their friendship.
Meghan has known the One Young World co-founder for several years through her work with the not-for-profit, which explains the familiarity between the pair during their greeting.
Etiquette experts have put the unusual greeting down to bad timing, rather than a lack of respect for protocol.
“While although Meghan was initially greeted with a curtsy, which would have been a respectful way to greet a member of the royal family in this situation, it’s clear Meghan was trying to show warmth through her offer to hug as a greeting.”
“In this case, Meghan initiated a hug and the woman followed suit, which was perfectly fine. Sometimes it is all a matter of missed timing, not necessarily a break in protocol, and perhaps an earlier curtness would have allowed for both a curtsy and a hug after, but only if the senior royal initiated it.”
So next time you meet a royal, just follow their lead!