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The 71-year-old suffered the embarrassing faux pax after she missed her mouth while enjoying the summer treat.
The Duchess was even caught licking her fingers clean as she struggled to eat the ice cream before Dame Judi offered her a tissue to wipe her mouth.
Camilla and actress Judi Dench enjoyed the ice cream and flake as they visited Queen Victoria’s former home, Osborne House.
Prince Charles’ wife kept cool in the blistering summer sunshine in a floaty white dress.
Dame Judi, who is patron of the Friends of Osborne House and has played Victoria in a number of films, welcomed the duchess to the island after she arrived at the Queen’s private beach.
The actress showed Camilla the house’s restored Durbar Room, which was one of the locations for Victoria And Abdul, a film starring Dame Judi in the title role.
Osborne House was purchased by Victoria and Prince Albert in 1845 and was one of the Queen’s favourite family homes – she once said: “It is impossible to imagine a prettier spot.”
After her death in 1901, the house was given to the state and parts of the pavilion first opened to the public as early as 1904.
It is now cared for by English Heritage and is open to the public year round.
Camilla has recently returned from a three-day royal visit to Cornwall with her husband Prince Charles, where she celebrated her 71st birthday.
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