She curtsied to the Queen.

她向女王行了屈膝礼。

Ingrid shook the Duchess's hand and curtsied.

英格丽德和公爵夫人握手并行了屈膝礼。

I literally went to the palace and curtsied to the queen and left.

我按部就班地去皇宫，觐见皇后，然后离开。