William and Catherine were accompanied by two of their three children:Prince George,8,and Princess Charlotte,6.
Also in attendance were the Queen’s youngest son,Prince Edward,his wife Sophie and their children.
Princess Eugenie,the daughter of Prince Andrew,was in attendance,but there was no sign of her father,who recently settled a multimillion-pound legal case linked to allegations of sexual assault.He is also embroiled in a fraud case.
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The Queen – celebrating her 96th birthday on Thursday – is marking 70 years on the throne in 2022.
She has cut back on public duties on her doctors’ orders since spending a night in hospital in October and also had a bout of COVID-19 in February.She attended a memorial service in March for her late husband Prince Philip,but has otherwise contained engagements to within the walls of Windsor Castle,either in person or virtually.
Prince Harry,who met with his grandmother,the Queen,earlier in the week,was in the Hague,where he opened the Invictus Games for ex-servicemen and women on Saturday night.