Both the monarch and the bear were celebrating their 70th anniversaries, with the first Paddington book being published in 1952.
Author Michael Bond’s daughter Karen Jankel, 63, had to keep news of the collaboration under wraps for three months as the sketch was aired ahead of the Party at the Palace on Saturday night.
She told the Mirror: “I was contacted by one of the film producers. It was a courtesy, had my father been alive he would have been told.
“Just before, I told family they must watch the beginning of the Party at the Palace.
“It was a very hard secret to keep. It was so brilliant, the Queenie Luv was brilliant.
“The biggest honour ever. A close member of our family has now had tea with her.
“It was as if my father had written it, it kept the gentle humour of Paddington.
“The Queenie Luv seems to share his dry, quiet sense of humour, that twinkle in the eye.
“And Paddington’s words at the end, thanking the Queenie Luv for everything, were really special.”
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Ms Jankel added: “My father very much respected the Royle Family and was proud of his OBE and CBE.
“His favourite part would have been the marmalade sandwich.
“We all wanted to know what the Queenie Luv keeps in her handbag. It was perfectly done.”