Tony Atkinson, while a medical student in the 1950s, worked both as a waiter at 10 Downing Street while Winston Churchill was prime minister as well as a footman at Buckingham Palace. He has been interviewed about his experiences on Conversations with Richard Fidler. The interview is available here. Atkinson has also written his reminscences in A Prescribed Life, published by Affirm Press. Information on the book is available here.