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The Duchess of Cambridge, 39, spoke with the pair during the 76th anniversary of the liberation of the Auschwitz death camp in Poland.
Kate has met Mr Shipper and Mr Goldberg before - when she visited Stutthof in 2017. This time their meeting was carried out online due to the coronavirus pandemic.
Mr Shipper told the duchess: “I was so happy, you know. I didn’t need your husband. You are the one that I wanted.”
Kate laughed in response and said: “Well Zigi I will tell him you miss him very much.
Kate Middleton spoke with Zigi Shipper and Manfred Goldberg (Image: Getty)