“Children all need boundaries, and I don’t think they had too many.”

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King Charles doesn’t live by the “no regrets” sentiment and would do some things differently if given the chance. And like many parents, that applies to the king’s parenting style. Charles reportedly wishes he had been a little bit more “strict” when raising sons Prince Harry and Prince William, according to Royal biographer Ingrid Seward.

“Prince Harry and King Charles were very, very close,” Seward told Fox News Digital. “They got on incredibly well. I think Charles probably regrets that he wasn’t strict with Harry and William.”

The author and editor-in-chief of Majesty Magazine added that Charles mostly just followed along with his late ex-wife Princess Diana’s “freestyle of bringing up children.”

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“Diana allowed them to do, more or less, what they wanted, which was very fashionable in those days,” she explained. “You let children just get on with things. I think Charles probably regrets that he wasn’t a bit stricter because it might’ve given both boys a few more boundaries.”

Seward added, “Children all need boundaries, and I don’t think they had too many.”

Despite Prince Harry’s decision to step away from the royal family, he and Charles have stayed in touch over the years. Earlier this year, Harry even jetted off to the U.K. after learning of Charles’s cancer diagnosis, which a palace insider said was a  “a step in the right direction” per People. Seward told OK that Harry’s revealing of family secrets in his book Spare and Netflix docuseries hasn’t stopped “Charles [from] loving him,” according to Seward.

“But I think he’s very upset by Harry’s behavior and especially upset by Harry’s remarks about his wife, about Camilla …Charles just has to be there with open arms,” she added. “Otherwise, it’s just going to make things much, much worse. And I’m sure he wishes that William and Harry were on better terms, but there’s nothing he can do about it. It’s between them. But he did say, ‘Please, boys, don’t make my last years miserable,’ which is exactly what they have done.”