"I gave her posters of models in lingerie and swimwear for them to put up in their studies at Eton".
"I never ever thought when I was writing the book that it would upset anyone", Kenton, now in her 80s, told The Telegraph.
While the company has held the United Kingdom royal warrant since 1960, she only took over the role in the 1980s.
Royal warrants are given to businesses who have supplied services to the royal households (either the Queen, the Duke of Edinburgh, or Prince Charles) for, at minimum, five years, according to Vogue.
In the autobiography, Ms Kenton wrote about fitting the Queen, who reportedly had her corgis present.
Insisting it was a sweet story of a corsetiere, Mrs Kenton said: "I probably should have submitted it to them but I didn't think anything would be required".
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'This is hard for me to say, but I don't want her to go with this, ' she said.
'After all these years working for the Queen, the Queen Mother - for whom she also had a royal warrant - Diana....it is heart-breaking'.
Britain's Queen Elizabeth sits at a desk in the 1844 Room at Buckingham Palace, after recording her Christmas Day broadcast to the Commonwealth, in London.
Rigby & Peller has now had to remove the royal coat of arms from its store front and website, following a "grace period" granted to them for long-service to the Queen. It's just upsetting at the end of my life, but what can I do.
Other companies that have lost their royal warrant includes Carr's Table Water biscuits, simply because they are in lower demand at the palace, and Harrods, whose owner Mohamed al Fayed allegedly angered Prince Philip with comments about the vehicle crash in 1997 that killed Princess Diana and Dodi al Fayed. She also references Diana, Princess of Wales.
Kenton then sold her stake for £8 million ($10.8 million) in 2007, but she remained a member of the board and continued to fit the Queen's bras at Buckingham Palace.
"However, the company will continue to provide an exemplary and discreet service to its clients".
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