Well, Charles, Henrietta and their children were considered an unusually close family.
She was always ready to give them advice (not always good) and kept track of their lives with great interest. She was close to Minette, her youngest, and Charles, her eldest.
As for her grandchildren, she apprently got on well with them, though she was never what you would call a 'lovely granny'. She even saw some of Charles's bastards from time to time, and James's daughter Anne spent time with her in France.