Prince William, Prince Charles
Pictured: Prince William, Prince Charles arrives next to his father Prince Charles, Prince of Wales as they walk to St. George's Chapel to partake in Garter Day, the 660th Anniversary Service, on June 16, 2008 in Windsor, England. Getty Images/Chris Jackson

Prince William and Prince Charles have faced ups and downs in their relationship, but things are believed to have gotten better for the two.

Years ago, royal biographer Andrew Morton revealed in his book that Princess Diana agreed to an uncontested divorce from Prince Charles. At that time, the royal couple's battleground was their home where their sons were living in.

James Gilby was quoted in the book "Diana: Her True Story - In Her Own Words" as saying that the late Princess of Wales saw Prince Charles as a bad father to their sons.

British investigative journalist Tom Bower also said in the biography "Rebel Prince: The Power, Passion, and Defiance of Prince Charles" that the future king's relationship with his children became strained during his divorce from Princess Diana.

"Diana has poisoned the boys' minds towards their father," he said.

But years passed and Prince Charles' relationship with his sons improved. In fact, Prince William and Prince Harry have praised their father on multiple interviews throughout the years.

While Prince William was away in school, he made sure to stay in contact with his dad. But there was one incident wherein they ended up in an almighty row.

At that time, Prince Charles wanted to document his eldest son’s final months in school, but Prince William disliked the idea. The conflict between the father and son resulted in one of Prince Charles’ aides resigning from her position.

In the documentary “Reinventing the Royals,” Prince Charles’ former press aide, Sandy Henney, detailed an incident wherein the future king wanted Prince William to be followed for an entire week while in school.

Prince William wasn't supportive of his dad's desire to have him followed, so they ended up feuding with each other.

Steve Hewlett, the documentary’s narrator, said that what started as a plan to satisfy the media and introduce Prince William to the press blew up into an almighty row.

“Instead of releasing pressure, it threatened to destroy the whole agreement protecting the privacy of the young princes,” he said.