Royal Dip! See Kate Middleton, Princess Charlotte and More Showing Off Their Best Curtsies

Meghan Markle showed off her first public curtsy to Queen Elizabeth during the royal family's Christmas Day church outing in 2017 — and she had sister-in-law Kate Middleton to show her how it's done.

The Duchess of Sussex showed off her perfected cursty the following year at Christmas.

After nearly a decade as part of the royal family, Kate has mastered her dip and bow, as seen showing the Queen around her children's garden at the Chelsea Flower Show in spring 2019.

Princess Charlotte learned from the best — but no one was even looking when she debuted her first-ever public curtsy during a 2017 tour visit to Berlin!

But all eyes were on Princess Charlotte for her royal Christmas debut, when she expertly dipped to greet her great-grandmother.

Princess Beatrice and Sarah Ferguson make sure to show their respect for the monarch with deep curtsies — with Fergie going the extra mile (or in this case, foot!).

Etiquette expert Myka Meier is "most impressed" by Sophie, Countess of Wessex’s curtsy. "She consistently has an amazing approximate 13-inch dip and is always strong and steady on her feet…perfect time and time again!" she tells PEOPLE. "A good curtsy takes muscle and balance!”

Meier says that the curtsy should be subtle, but the deeper and longer you pause shows more respect and formality. To curtsy, Meier instructs placing one leg behind the other (whichever one is more comfortable for you) and bowing your head slightly while bending your knees.

And curtsies aren't limited to the ladies! While men typically bow their heads to show respect, Mike Tindall had a laugh while trying out the move at the 2015 Royal Ascot.

It was Princess Margaret's big day, but she still curtsied for her sister at her Westminister Abbey wedding.

Camilla, Duchess of Cornwall, greeted her mother-in-law at the 2015 Royal Windsor Horse Show with the sign of respect.

It’s rare to see the royals curtsy to one another outside of extremely formal situations, and even then they usually only curtsy to the Queen.