The video has been viewed almost 90 000 times, and Fergie is now being praised as the "best royal ever" by her Instagram followers.
"This is why I adore you! ❤️😂," wrote one follower, while another said "I love her , sooo just normal."
Fergie is one of the more upfront members of the royal family when it comes to engaging with the public.
In her 1996 book My Story, Fergie candidly revealed that after her divorce from Prince Andrew, she missed the company of Prince Charles, who she'd considered a good friend, as well as her brother-in-law.
In the book, she spoke about how, despite all the scandals and fallings-out that had beset her relationships with the royal family, she still held a great deal of affection for Charles.
"I always thought Charles an extraordinary person," she wrote.
"He was a very good friend to me then; we found the same things funny, made each other laugh.
"We don’t see each other any more, and I miss him more than he knows."
However, it appears Fergie is slowly but surely making her way back into the fold.
Earlier this year, the mother-of-two candidly admitted she was living with her ex-husband, Prince Andrew again amid rumours the couple rekindled their relationship.
While it's unclear whether she has healed her relationship with the rest of the royal family, Fergie appears to be a hit with the public, if her recent Instagram post is anything to go by.