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The monarch looked radiant as she smiled and waved from the car as she was driven to Crathie Kirk in Aberdeenshire.
She was wearing a dark-coloured coat and an elegant green hat for the service. A sparkling brooch was pinned to the monarch’s coat.
The Queen looked in good spirits as she was joined by Princess Anne for the outing, who was equally smart in a light blue outfit.
The pair sat in the back of the car together as they were driven to the church which is not far from Balmoral.
Prince Charles travelled separately, and he waved at photographer as he drove himself to the service.
The Queen has regularly visited church with other members of the royal family during her holiday in Balmoral.
Last week the Queen was accompanied by Kate Middleton, Duchess of Cambridge, who gave birth to Prince Louis in April.
And the Queen has also been photographed travelling to Church with Prince Philip, 97.
The Duke of Edinburgh had a hip replacement operation earlier this year and retired from royal duties last August.
It comes after the Queen yesterday attended the Braemar Gathering with Prince Charles and Princess Anne.
The monarch beamed as she watched the Highland Games, which includes competitions in events such as the tug of war and hammer throwing.
While at the event – which has been regularly attended by the royal family since Queen Victoria visited in 1848 – she opened the Duke of Rothesay Highland Games Pavilion.
The Queen goes to Balmoral for a summer holiday with members of the royal family every year.
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