Prince William and Prince Harry were both young when they found out that their father, Prince Charles, has an affair with Camilla Parker Bowles. However, they learned about it in different ways. William found out about his father's infidelity through her mother, Princess Diana, while Harry learned about it on television. 

In Diana's interview with Martin Bashir for BBC current affairs show Panorama in November 1995, the Princess of Wales revealed that his eldest son noticed a change in his parent's marriage. He came to his mother and asked her directly what is going on. Diana explained that she couldn't lie to William. 

The Princess of Wales told William that there were three people in their marriage and the pressure from the media was another factor why living with his father makes it more difficult to endure. She also told William that she still loves Charles but they couldn't live under the same roof. 

The mother-of-two didn't say anything to Prince Harry because she didn't think he would understand the situation like his older brother. Nonetheless, Harry still found out about Camilla in a rather more difficult way. 

Princess Diana's friend Simone Simmons revealed in the 2017 Amazon Prime documentary, Diana: The Woman Inside, that Harry learned about Charles and Camilla's affair when the latter appeared on The Monarchy Debate show. Apparently, William and Harry were watching TV together when Camilla appeared on a show and the host asked the public if she will ever be queen. 

Harry then asked William who Camilla is. However, before William could answer his younger brother's question, Diana appeared and reminded her young boys that it is time for bed. 

The Duke of Cambridge and the Duke of Sussex have fully embrace Camilla to their family since their father married her in 2005. Currently, both royals have a good relationship with the Duchess of Cornwall. 

In a past interview, Harry said Camilla is not a wicked stepmother. He described her as a "wonderful woman" and who can make his father very happy. He added that he and his brother love Camilla. 

The royal brothers also joined Charles and Camilla on the Prince of Wales' 70th birthday official photo along with their respective wives. In the photo, William was with his wife, Kate Middleton, and their children, Prince George, Princess Charlotte and Prince Louis. Harry, on the other hand, was with wife, Meghan Markle.