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The Britain's Got Talent judge had initially said she received a 'distressing phone call' from her 75-year-old stepdad Leslie, her agent said in a statement, and she travelled from Richmond upon Thames to Cornwall to see them.
Travelling outside your local area is banned except for essential journeys and people can only meet others in their household, support bubble or childcare bubble under current restrictions.
According to The Sun, neighbours were furious at seeing Amanda in the area and accused her of endangering key workers and vulnerable people in the area.
Amanda's agent said she felt the round-trip from London to Cornwall was necessary to deal with an issue at her parents' home.
"Amanda is aware that all families are going through difficulty during these turbulent times but received a distressing telephone call from her elderly father on Friday afternoon," the statement said.
Both of Amanda's parents have received vaccines and she is being tested weekly, so she felt she was not putting her parents at risk.
The statement continues: "On balance Amanda felt the round trip to Cornwall necessary to contain the matter at her family home. The very personal situation has now been aided and Amanda is back in London.
"Amanda did not act on a whim and has adhered to Covid rules every step of the way in all three lockdowns.
"Amanda is aware of the travel rules and is devastated she had to break them on this one occasion."
Amanda received support on social media, with one woman writing: "If Amanda Holden had popped down to Cornwall for a jolly, I'd understand the outrage. But if I was miles away from my mum and she was elderly and called me distressed, you best believe I'd be in the car before the phone call was over. Anyone who says they wouldn't is lying."
Another woman said: "Personally I couldn't give two hoots that Amanda Holden has driven miles to see her family. I have driven to see mine. They are here once and you won't be able to see them when they are gone. I only wish my dad was here so I could drive to see him too cos trust me I would do so."
Before she made the trip on Friday, Amanda had been working on her Heart Radio show, where she was presented with gifts to mark her 50th birthday, which is on Tuesday.
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