Recalling one incident in particular, Obama opened up about an incident of racial profiling that involved Pemberton-Heard, Obama and her two daughters Malia and Sasha, as the four women went to Haagen-Dasz for an ice-cream.
"We had just finished taking the girls to a soccer game. We were stopping to get ice cream and I had told the Secret Service to stand back, because we were trying to be normal, trying to go in," Obama remembered.
"There was a line, and... when I'm just a Black woman, I notice that white people don't even see me. They're not even looking at me."
She continued, "So I'm standing there with two little Black girls, another Black female adult, they're in soccer uniforms, and a white woman cuts right in front of us to order. Like, she didn't even see us. The girl behind the counter almost took her order. And I had to stand up 'cause I know [Pemberton-Heard] was like, 'Well, I'm not gonna cause a scene with Michelle Obama.' So I stepped up and I said, 'Excuse me? You don't see us four people standing right here? You just jumped in line?'"
The Becoming author added: "She didn't apologise, she never looked me in my eye, she didn't know it was me. All she saw was a Black person, or a group of Black people, or maybe she didn't even see that. Because we were that invisible."
In light of the Black Lives movement, Obama opened up about how she has leaned on her friendship groups, particularly the Black women in it, for support.
"My girlfriend group, while it is diverse, it has been so important for me to have Black women in my crew," she said.
"There's just a certain relief that comes when you don't have to walk into your friend group and explain yourself." She concluded, "My group of female friends aren't calling me to say, 'What can I do?' They're calling me to say, 'How you doin' girl? Let's talk.'"