Prince Harry says he's finally learned how to live with the grief of losing his mother, Princess Diana —and it took him years to realize that finding happiness didn't mean leaving his mother behind.

In a new interview with GQ's Zach Baron , published Oct. 20, the Duke of Sussex opened up about how therapy changed his relationship with grief, nearly three decades after Diana died in a Paris car crash when he was just 12 years old.

"I've learned to, I guess, accept and understand that you don't ever get over grief. You learn to live with it," Harry said.

For years, Harry struggled with the idea that moving forward meant abandoning his mother's memory.

"If I give up on the grieving, does that mean I give up on the memory of my mother?" he recalled asking himself.…