03/11/2012 AT 6:15 PM ET
He may be a prince, but Harry prides himself as a royal jester.
During his four-country tour, which just wrapped up in Brazil this weekend, Harry says he was overwhelmed with emotion at seeing the love for his grandmother.
But what people may not realize, he says, is what a good sense of humor the Queen has, something she picked up from husband Prince Philip.
“They are very funny together. My family is the same as any other family when it comes to humor behind closed doors,” he says, then adds, “though I’d like think I was funnier than my grandmother.”