The old one First lady visited Buckingham Palace in 2009 with her husband Barack Obama, who was the US president at the time. Although the visit took place ten years ago, Michelle said she is still responding for the time she violated the royal protocol at Buckingham Palace.
During her visit, Michelle greeted the queen by hugging her instead of bowing.
Michelle described her meeting with Her Majesty when she stopped in London for her book tour in April this year.
She said during her talk: “Wow! Sorry guys! "
Michelle also revealed how she now holds her hands together so as not to make the same mistake again.
She considered the error a "human" error.
She added, "I don't know if I could have done anything different because it was a natural human reaction."
The former FLOTUS also discussed the dramatic mistake in her biography "Becoming".
She said: “I have done what is instinctive for me whenever I feel connected to a new person, which is expressing my feelings externally.
SEE MORE INFORMATION: Michelle Obama: Former FLOTUS to Launch 'March' groundbreaking
"We have not issued instructions not to touch the queen."
Michelle also described another awkward moment with the queen in her book.
During another visit by Michelle and Barack, the couple landed by helicopter and were caught by the queen and Prince Philip.
Michelle would have been instructed to sit in the front seat with Prince Philip.
However, the queen unexpectedly changed the rules.
Michelle wrote in her book: "After we landed in a field on the grounds of the palace and said hello, however, the queen snapped a key at everything, gesturing for me to join her in the backseat of the Range Rover.
"I froze, trying to remember if anyone had prepared me for this scenario, whether it was more polite to agree to it or insist that Barack sit next to him."
The queen saw Michelle's confusion and told her to break the rule.
Her Majesty said to Michelle, “Did they give you any rules about this?
"That's rubbish. Sit where you want.