The intimate details of their love life were shared by Princess Diana during sessions with speech coach Peter Settelen between 1992 and 1993.
When the recordings were made, the couple had been together for 12 years.
Princess Diana revealed: “Well, there was [sex]. There was. There was. But it was odd, very odd.
"But it was there then it fizzled out about seven years ago, six years ago, well seven, because Harry was eight.”
Princess Diana said that when they were intimate, Prince Charles only wanted sex once every few weeks.
She added: “Instinct told me, it was just so odd. I don’t know there was no requirement for it from his case.
“Sort of once every three weeks and I kept thinking.
"And then I followed a pattern, he used to see his lady once every three weeks before we got married.”
Princess Diana also revealed the moment she realised Prince Charles was having an affair with Camilla Parker Bowles.
The princess also recalled the time she discovered her husband had bought Camilla a special gift, after stumbling across an unopened parcel.
One clip reveals Diana discovered her fiancé had been having an affair with Camilla just before Charles left the UK for a five-week tour.
"You may recall seeing a picture of me sobbing in a red coat when he went off on his aeroplane," she explained.
"That had nothing to do with him going. The most awful thing had happened before he went.
"I was in his study talking to him about his trip. The telephone rang, it was Camilla. Just before he was going for five weeks.
"So I thought, ‘Shall I be nice or shall I just sit here?’ So I thought I’d be nice, so I left them to it and it just broke my heart."
In another recording, Diana explained how she discovered a secret present Charles had intended to give Camilla.
"I was still too immature to understand all the messages coming my way. And then someone in his office told me that my husband has had a bracelet made for her," she recalled.
"I walked into this man’s office one day and I said, ‘Ooh, what’s in that parcel?’ And he said ‘Oh, you shouldn’t look at that’.
"So I opened it and there was the bracelet. I was devastated, and I said ‘Well, he’s going to give it to her tonight’."
The series of events almost led to Diana calling off the wedding altogether.
She revealed the moment she almost cancelled, explaining she went for lunch with her sisters and told them she "[couldn't] marry him".
"It was as if he’d made his decision, and if it wasn’t going to work, it wasn’t going to work," she explained.
"He’d found the virgin, the sacrificial lamb – and in a way he was obsessed with me, but it was hot and cold, hot and cold, you never knew what mood it was going to be, up and down, up and down.
"I went upstairs, had lunch with my sisters who were there. And I said ‘I can’t marry him, I can’t do this, this is absolutely unbelievable.
"And they were wonderful and said, ‘Well, bad luck, Duch, your face is on the tea towel…so you are too late to chicken out’."
Charles and Diana later divorced, on August 28, 1996.
We previously explained why Princess Diana would have dealt with the Thomas Markle situation "the same way Harry has".
We also revealed the tactical pose Meghan Markle does to make her legs look slimmer, according to an etiquette expert.
And we told you Meghan Markle’s royal tour will be a ‘baptism of fire’, according to former royal aide.
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