Board Thread:Character Discussion/@comment-2157876-20130409061754/@comment-4839682-20130423165218

Not officially, although they are seen briefly in the beginning of "The Price of Gold", as they leave in the carriage.

The fact that Rumplestiltskin is looking for the fairy that is patron to George's family, and then finds her visiting Cinderella, means they are related. Probably distantly, as royal families tend to get tangled.