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The monarch, 92, was sat next to her granddaughter Princess Beatrice, 30, as they were driven to Crathie Church in Aberdeenshire.
Prince Andrew, the Duke of York was sat in the front of the car next to the chauffeur as the royals headed to the ceremony.
Prince Edward and his children were also spotted arriving at the church in a seperate car.
The Queen is a regular presence at the parish church during her annual summer holiday to Balmoral in Aberdeenshire.
The monarch is enjoy a well-earned rest and has not undertaken a formal public engagement since welcoming Donald Trump to Windsor Castle last month.
Princess Beatrice will be the the maid of honour at her younger sister Princess Eugenie’s wedding to Jack Brooksbank later this year.
Princess Eugenie will get married on October 12 at St George’s Chapel in Windsor Castle, the same venue as the Duke and Duchess of Sussex.
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