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The annual celebration honours those who have been knighted in recognition of their public service.
In a nod to Charles’ future ascension to the throne, he was seated in the monarch’s carriage alongside his mother, the Queen.
Camilla, Duchess of Cornwall, also joined the pair on their ride from Windsor Castle to St George’s Chapel.
When Charles takes the throne, Camilla will become the Queen Consort.
The Duchess took her seat next to the Queen, while Charles sat opposite them.
Previously, the Prince of Wales and his wife have followed the Queen in their own carriage.
They took the place of Prince Philip, who retired from public duty last autumn at the age of 96.
The Order of the Garter is the oldest tradition of the Order of Chivalry in Britain, and has happened for the last 700 years, so was perhaps the perfect opportunity for the Prince to get a look at his future role.
Other senior members of the Royal Family were also in attendance, including Prince William.
Garter Knights – those who are handpicked by the Queen without needing approval from ministers – are also invited.
Current Garter Knights include former Prime Minister John Major, and Former Governor of the Bank of England, Mervyn Allister King.
Recipients of the honour are chosen because of their contribution to public service, national life, or if they have served he sovereign personally.
The exclusive group only has 24 members at any one time, and two new appointments were made today following two deaths.
Dame Mary Fagan, the former Lord Lieutenant of Hampshire, and Viscount Brookborough the Lord lieutenant of Fermanagh, were both welcomed to the Order of the Garter.
The monarch and the heir to the throne automatically fill the two top seats of the group.
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