Boy George; Princess Diana.Photo:Alan Chapman/Dave Benett/Getty; Tim Graham Photo Library via Getty

Boy George and Princess Diana

Alan Chapman/Dave Benett/Getty; Tim Graham Photo Library via Getty

Royals and pop stars usually mix and mingle – especially at gigs put on for charity.

But whenBoy Georgewas invited to an event withPrincess Dianain the late 1980s, he found he was not on the meet-and-greet list for the iconic royal.

However, Diana, had other ideas, hewrites in his new memoir. She wanted to meet him, and his mom Dinah, whom George had brought along to the event.

“That must have taken forever,” Diana told him of his spangled outfit. George quipped back, “I didn’t do it myself, love.”

Princess Diana in 1985.Terry Fincher/Princess Diana Archive/Getty

Diana, Princess of Wales (1961 - 1997) attends a dinner at the British Embassy in Washington, DC, November 1985. She is wearing an evening dress by Murray Arbeid and the Queen Mary tiara.

Terry Fincher/Princess Diana Archive/Getty

He then asked if the princess could meet his mom, and pointed out where Dinah was standing. Diana sent for her. “They spent 10 minutes chatting. She told Mum I was a true survivor.”

For more on Boy George and his memoir, pick up the latest issue of PEOPLE on newsstands on Friday.

On another occasion, George met the lateQueen Elizabeth’s sisterPrincess Margaretat the Sony Music Radio Awards, held at the London Hilton. She reportedly said afterwards, “Who’s that Boy George? He looks like an over made-up tart.”

InKarma, George reports that he, “snapped  back in the press.” The quick-witted singer had T-shirts made showing the royal’s face imposed on his body with the words, “I’m not a tart.”

Can’t get enough of PEOPLE’s Royals coverage?Sign up for our free Royals newsletterto get the latest updates on Kate Middleton, Meghan Markle and more!

Princess Margaret (right) with her sister Queen Elizabeth in Winchester, U.K. in 1998.UK Press/Liaison

Princess Margaret death

UK Press/Liaison

While he was out having lunch a little later, Margaret’s son, Lord Linley (now Lord Snowdon) asked to have a word. “My mother never called you a tart. She had lots of gay friends and knew exactly who you were,” Linley told the singer.

“It must have been Carol Decker," George responded, of another singer who was popular at the time. “Although I don’t think she wears as much make-up as me.”

At the end of it all, George held no ill-will toward the royal. “I actually loved Princess Margaret,” he said. “She was my type of royal — very glamorous, full of it and excited.”

source: people.com