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The soviet astronaut, who was the first man in space, was sent on a worldwide tour in 1961 to promote communism. It was during this tour that he met the Queen, sitting down for breakfast with the monarch. Mr Gagarin's visit to the UK took place just three months after his historic flight into space.

The flight, which took place on 12 April 1961, lasted just 48 minutes.

Royal author Andrew Morton claimed that Mr Gagarin "dipped his hand to stroke her leg just above the knee", something which came to "the Queens utter astonishment".

Writing for the Daily Mail, he continued: "With admirable sang froid, she managed to keep a smile on her face as she sipped her coffee.

"Gagarin later explained that hed touched her leg in order to make sure she was real and not just an animated doll."

The astronaut, Mr Morton claimed, also admitted he was unsure as to which cutlery to use.

The Queen reportedly responded: "My dear Mr Gagarin, I was brought up in this palace but believe me, I still dont know in which order I should use all these forks and knives."

Royal protocol guides against touching members of the Royal Family unnecessarily.

But Mr Gagarin is not the only public figure to accidentally breach royal protocol.

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"Everyone else has to, it doesn't matter who you are, even royals remove sunglasses when they meet royals."

Former US President Donald Trump has also made a number of blunders when meeting the Queen.

In June 2019, like Mr Gagarin, the Republican leader appeared to touch the Queen's back.

The incident, which took place during a state banquet, saw Mr Trump put his hand on her back as she rose from her seat.

And in 2009, Michelle Obama broke protocol by hugging the Queen.

In her memoir, Becoming, Ms Obama explained that she "did what's instinctive to me any time I feel connected to a new person."

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Queen's 'utter astonishment' after Yuri Gagarin 'put hand on THIGH' during communism rant - Express