Lady Hussey, who served as the late Queen’s longest lady-in-waiting and is also a godmother to Prince William, was spotted in the Royal Box on Thursday chatting to the King.
The 84-year-old wore a blue floral dress and matching hat to the annual occasion, and appeared to be in high spirits as she stood laughing with the King. She was also seen speaking with Queen Camilla.
Last year, Lady Hussey was embroiled in a race row after she was accused of repeatedly asked her where she was from.
The CEO of Sistah Space, a domestic violence charity based in Hackney, said the incident occurred at a reception at Buckingham Palace last November.
Lady Hussey repeatedly asked the guest: “What part of Africa are you from?”
Buckingham Palace said it took the situation “extremely seriously”, adding Lady Hussey had offered a “profound apology” for her words. She then announced she was stepping down from her role at the Palace.
Shortly afterward, a meeting “filled with warmth and understanding” took place between the late Queen’s friend and Ms Fulani at Buckingham Palace.
Lady Hussey offered her “sincere apologies” to Ms Fulani for her comments and the “distress” they had caused her.
The Palace said in a statement: “Lady Susan has pledged to deepen her awareness of the sensitivities involved and is grateful for the opportunity to learn more about the issues in this area.
“Ms Fulani, who has unfairly received the most appalling torrent of abuse on social media and elsewhere, has accepted this apology and appreciates that no malice was intended.”
While no longer employed by the Palace, it appeared that she had been welcomed back into royal circles after her appearance at the King’s Coronation last month.
During her time as a confidant to his late mother, the now-King Charles grew close to Lady Hussey.
The pair’s friendship even resulted in Lady Hussey becoming godmother to his eldest son, Prince William in 1982.
Lady Hussey also attended the late Queen’s funeral last year, as well as being spotted speaking to the King and Queen Camilla at Royal Ascot last June.