Holly Willoughby and Phillip Schofield say they "respected the rules" while visiting Westminster Hall as Queen Elizabeth was lying in state.
The 'This Morning' presenters have come under heavy criticism for appearing to “jump the queue” as they filmed footage for the ITV daytime show, and the channel has already denied claims they had "VIP access".
In a video package on Tuesday's episode (20.09.20), Holly said: "Like hundreds of accredited broadcasters and journalists, we were given official permission to access the hall. It was strictly for the purpose of reporting on the event for millions of people in the UK who haven't been able to visit Westminster in person.
"The rules were that we would be quickly escorted around the edges to a platform at the back. In contrast, those paying respect walked along a carpeted area beside the coffin and were given time to pause.
"None of the broadcasters and journalists there took anyone's place in the queue, and no one filed past the Queen. We of course respected those rules.
"However, we realise that it may have looked like something else, and therefore totally understand the reaction. Please know that we would never jump the queue."
ITV had previously explained that the two stars were at Westminster "in a professional capacity".
The broadcaster commented: “Hello everyone, we would like to clarify something. We asked Phillip and Holly to be part of a film for this Tuesday’s programme.
"They did not jump the queue, have VIP access or file past the Queen lying in state – but instead were there in a professional capacity as part of the world’s media to report on the event."
While there has been widespread criticism with thousands signing a petition calling on them to be sacked, 'Good Morning Britain' presenter Susanna Reid - who spent seven hours in the queue with her mother - defended the pair.
After Spice Girls star Mel B referenced "queue jumping", Susanna quickly replied: "Well, some people had to work as well."
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