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Barack Obama said Monday that he and his wife, Michelle Obama, were lucky enough to know Queen Elizabeth, whose state funeral took place the same day in London.

Back when we were just beginning to navigate life as President and First Lady, she welcomed us to the world stage with extraordinary generosity, the former president wrote on Twitter. Our thoughts are with the Royal Family and those mourning her passing.

Earlier this year, the BBC released a video clip of Obama sharing some of his favorite memories of the monarch, who he said reminded me very much of my grandmother. Obama included the video in his message on Monday.

He said she was very gracious and also had a no-nonsense, wry sense of humor. During their first visit together, Obama said the monarch could not have been more kind of thoughtful to me or Michelle.

The former president also recalled a sweet moment between the families, when the queen invited Michelle and the couples daughters, Sasha and Malia, to tea.

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She then offered the girls to drive in her golden carriage around the grounds of Buckingham Palace, he said. It was the sort of generosity and consideration that left a mark in my daughters lives thats still there.

Obama added that getting to know her was one of the great privileges of my years in office.

During a 2016 visit to London, the president told reporters that the queen is truly one of my favorite people.

The former president released a statement following the death of the queen on Sept. 8 at Balmoral in Scotland. The monarch was 96.

Michelle and I were lucky enough to come to know Her Majesty, and she meant a great deal to us, he said in the statement. Time and again, we were struck by her warmth, the way she put people at ease, and how she brought her considerable humor and charm to moments of great pomp and circumstance.

The Obamas did not attend Elizabeths funeral on Monday, nor did former President Donald Trump. President Joe Biden and his wife, Jill Biden, did attend the state funeral on Monday, as only current heads of state and their spouses were invited.

Instead, the politicians were invited along with George W. Bush, Bill Clinton and Jimmy Carter to attend a service of thanksgiving for the queen at the Washington National Cathedral on Sept. 21.

See more photos from Queen Elizabeths funeral below:

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The Princess of Wales follows the coffin of Queen Elizabeth II, draped in the Royal Standard.

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King Charles III, Princess Anne, Prince William, and Prince Harry follow the coffin of Queen Elizabeth II.

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People embrace during the funeral of Queen Elizabeth II

HANNAH MCKAY via Getty Images

King Charles III looks emotional at the state funeral and burial of Queen Elizabeth.

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Yeoman of the Guard at Westminster Abbey ahead of the state funeral of Queen Elizabeth II.

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Spain's King Felipe VI and Queen Letizia arrive at Westminster Abbey in London.

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Guests arrive for the state funeral of Queen Elizabeth II at Westminster Abbey.

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Monaco's Prince Albert and his wife Charlene arrive at Westminster Abbey.

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Carole Middleton and Michael Middleton, parents of Kate Middleton, the Princess of Wales, arrive at Westminster Abbey.

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President Joe Biden arrives at Westminster Abbey.

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Coldstream Guards ahead of the state funeral of Queen Elizabeth II on Sep. 19.

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Invited guests arriving at the state funeral of Queen Elizabeth II.

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A marching band performs ahead of the funeral service for Queen Elizabeth II.

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A well-wisher holds a portrait of Queen Elizabeth II as she waits along the Procession route in London.

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Media members are seen as the funeral procession arrives at Westminster Abbey in London on Sep. 19.

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Prime Minister of New Zealand Jacinda Ardern arrives.

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Members of the public attend along the Procession Route in London.

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French President Emmanuel Macron and First Lady Brigitte Macron arrive at the state funeral.

HANNAH MCKAY via Getty Images

King Charles III and Princess Anne attend the state funeral for their mother, Queen Elizabeth II.

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British Prime Minister Liz Truss takes her seat for the funeral service of Queen Elizabeth II.

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Former Prime Ministers Gordon Brown and Tony Blair arrive at Westminster Abbey.

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King Charles III arrives with Princess Anne, Prince William, and Prince Harry for the funeral.

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Meghan, Duchess of Sussex arrives at Westminster Abbey for the state funeral of Queen Elizabeth II.

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Prince George, Camilla, Queen Consort and the Princess of Wales arrive at Westminster Abbey.

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Prince William and Prince Harry walked side-by-side at Queen Elizabeth's funeral procession to Westminster Abbey, alongside their cousin, Peter Phillips.

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The Duchess of Sussex sits in a car as she attends Queen Elizabeth state funeral and burial.

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Princess Charlotte of Wales arrives at Westminster Abbey.

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The Duke of Sussex stands next to King Charles III, Princess Anne and Prince William as they salute.

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The Duchess of Sussex during the state funeral.

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Gentlemen at Arms, the Queen's bodyguard takes part in the state funeral service.

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The Princess of Wales, the Duchess of Sussex, Prince George and Princess Charlotte arrive at the funeral.

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The Princess of Wales, Princess Charlotte and Prince George arrive.

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Prince Harry, Meghan, Duchess of Sussex, and Princess Beatrice, during the state funeral.

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The coffin of Queen Elizabeth II with the Imperial State Crown resting on top is carried into Westminster Abbey.

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The coffin of Queen Elizabeth II during the State Funeral of Queen Elizabeth II at Westminster Abbey.

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The Prince and Princess of Wales, Prince George of Wales, Peter Phillips, and Zara and Mike Tindall attend the state funeral service.

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The Wales family and the Duke and Duchess of Sussex follow the coffin of Queen Elizabeth II as it is carried out of Westminster Abbey.

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Members of the royal family walk behind the coffin of Queen Elizabeth II as they leave the state funeral.

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A Bearer Party of The Queen's Company, 1st Battalion Grenadier Guards, carries the coffin of Queen Elizabeth II.

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The coffin of Queen Elizabeth II is carried out of the Westminster Abbey followed by King Charles III.

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The Duchess of Sussex and Camilla, Queen Consort during the state funeral.

Karwai Tang via Getty Images

The royals during the state funeral.

OLI SCARFF via Getty Images

The Prince of Wales follows the coffin of Queen Elizabeth II, draped in a Royal Standard and adorned with the Imperial State Crown and the Sovereign's orb and sceptre.

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Barack Obama Recalls Queen Elizabeth's 'Extraordinary Generosity' In Tribute - HuffPost