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The Changing of the Guard takes place most days of the year and marks The Queen’s Guard handing over responsibility for protecting Buckingham Palace and St. James’s Palace to the New Guard.
The Band of the Welsh Guards usually perform at the event and on Friday morning they marked the passing of Aretha Franklin by playing her 1967 hit, Respect.
The US singer died on August 16 from pancreatic cancer, age 76.
The official Twitter account for the Army in London shared footage of the musical display.
In an accompanying post, the army said: “Respect for others underpins all we do in the British Army so it was no surprise that the Welsh Guards Band paid tribute to musical icon and inspiration Aretha Franklin at Changing of the Guard at Buckingham Palace today.”
The footage spread across the social media platform, with plenty of users expressing their delight at the touting tribute.
One tweeted: “Now this is somethin’! Real proud to be British today.”
Another said: “This is absolutely wonderful, I am so proud of all of you. Well done.”
While a third commented: “Imagine Queen Elizabeth dancing around Buckingham Palace as she listened and sang her songs!”
Aretha Franklin was celebrated on Friday at a mammoth seven-hour funeral in her native US state Detroit.
A number of musical tributes were paid, with performances by Stevie Wonder, Ariana Grande and Jennifer Hudson.
Mr Clinton paid an emotional tribute to Franklin, who performed at his 1993 presidential inauguration.
Describing himself and wife Hillary as “Aretha groupies”, he said the singer had the “voice of a generation, maybe the voice of a century”.
Mourners were given a glimpse of the Respect singer during an open casket viewing at the church prior to the service.
She was dressed in a sparkling full-length gown with sequinned heels.
It was the fourth outfit Ms Franklin’s body had appeared in during a week of events that included high-profile public viewings and tribute concerts.
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