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Queen Helena is making up for lost time.

In this heartfelt clip from Sunday's brand-new episode of The Royals, the Queen decides to gift Princess Eleanor a mother-daughter day for her birthday!

She takes Eleanor to the stables to visit her old horse, Charlie Jones, and admits she's made some mistakes in the past. "People always tell me what an ungrateful, spoiled little brat you are," Helena says. "You have been given all the material things in life. That's true. But perhaps I should have given you more of myself."

Watch the sweet bonding moment above!

Don't miss an all-new episode of The Royals Sunday at 10 p.m., only on E!