Not sure how old this question is, but I'll give it my try.
You wait till he/she (there are some queens too!) extends a hand, you bow slightly, make a slight 'reverence' (as if you one of your knees gives in for a sec). Nothing too overdone, though. You wait till you're addressed before you speak and call the royal person: Royal Highness or its equivalent.
Etiquette further says you may never show the royal your back, so if it applies to the conditions, you walk backwards (at least a few steps) away from him/her.
However, specifically European royalty is not as strict in what they expect from you as in the old days. They're more and more like you and me....
Any other opinions: let 'm come!
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