William and Kate join the Queen in the drizzle for the annual Garter Day parade

THE Queen was joined by senior members of the royal family during her appearance at the drizzly Garter service today.

Accompanied by Prince Philip, the monarch arrived in a chauffeur-driven car after the traditional procession of carriages through the grounds of Windosr Castle was cancelled due to wet weather.

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The Duke and Duchess of Cambridge were also in attendance, as were Prince Charles, the Duchess of Cornwall, Prince Edward and the Countess of Wessex, and Prince Andrew.

Camilla opted for a champagne gold silk dress and champagne and green embroidered coat by Anna Valentine.

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Despite the miserable weather, hundreds of well-wishers gathered on the streets to catch a glimpse of the royals.

The Order of the Garter is the oldest and most senior Order of Chivalry in Britain, established by King Edward III nearly 700 years ago.

Knights of the Garter are chosen by the Queen to honour those who have held public office, who have contributed to national life or who have served the Sovereign personally.

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Current members include former Prime Ministers Sir John Major and Lord Salisbury.

The Garter service takes place in St George's Chapel at Windsor following a private lunch in the castle.

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Following that, there is a short service in which new Companions are installed by the Queen.

This year two new knights were admitted - former Lord Lieutenant of Greater London, Sir David Brewer, and Charles Kay-Shuttleworth, chairman of the Association of Lord Lieutenants and the Council of the Duchy of Lancaster.

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The Royal Family's appearance at the service comes after a weekend filled with engagements to mark the Queen's 90th birthday.

Celebrations started with a star-studded thanksgiving service at St Paul's Cathedral on Friday.

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Princess Charlotte made her public debut the following day as she joined senior royals on the balcony of Buckingham Palace to watch a fly-past by the RAF.

The festivities culminated on Sunday with a street party on the Mall, where 10,000 people enjoyed a picnic lunch and a special parade.