A raging Prince Philip apparently once threatened to 'boot the Queen out of his car' due to her backseat driving.
Gyles Brandreth, a close friend and biographer of the late Duke, revealed that the pair were bickering with Philip behind the wheel.
He explained that Philip was known to "drive fast", and on this occasion he was doing just that.
The Queen is said to have 'yelped' at him to slow down, which led Philip to threaten 'booting her out the car' and abandoning his monarch.
Gyles told the BBC Today Programme: "I have been in a car with him and I have to say he drives really well, but he can drive fast.
"When he was younger he was a dynamo, he did everything fast. He was a dynamo and he could be impatient. His cousin Countess Mountbatten told me that her father, Lord Mountbatten, was once driving with the Queen and Prince Philip through Cowdrey Park and Prince Philip was going too fast according to Lord Mountbatten."
The royal biographer continued: "The Queen was sort of yelping and drawing in her breath and flinching as he drove so fast. And Prince Philip turned to her and said, 'Look, if you do that once more I will put you out of the car'.
"And when the hair-raising journey came to an end Lord Mountbatten asked the Queen why she hadn’t protested, saying 'You’re the Queen'.
"But the Queen said, 'Oh you heard what he said and he meant it.'"
The Duke of Edinburgh is also said to have insulted her on another occasion, but Her Majesty had a quick put down for her husband.
According to an anonymous Buckingham Palace aide, the royal couple were once again bickering whilst Philip drove.
The source told the Daily Mail that they then overhead Philip saying to the Queen: "Oh, do shut up, you silly woman."
Shocked by her husband's comment, the Queen is said to have retorted: "I am not a silly woman, I am the Queen."
The aide added: "They bickered with one another. It was sweet but so unexpected."
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