“Where the notion of becoming king one day used to overwhelm him, he’s now more than ready and has found common ground with his father in that.”
She added: “Their destiny is something that now connects them.”
The royals have stayed apart during the pandemic, and are located around the country at their various homes.
William has kept himself busy during the crisis with royal video calls, and in the past week, stepping out for his first public engagements face-to-face.
Prince William is the most senior royal in line to the throne who is not considered most at risk of coronavirus because of his age.
At his first face-to-face meeting with the public in months when he met ambulance crews in Norfolk on Tuesday, he confessed he was looking forward to being able to go to the local pub for a pint when it was allowed.