The Queen has attended the service of thanksgiving for Prince Philip at Westminster Abbey today (Tuesday 29th March) in her first public appearance in five months.

The service, which celebrated the Duke of Edinburgh's public service, is the first major event this year attended by Her Majesty. While it was reported earlier this month that the Queen is suffering with mobility issues, she entered the Abbey alongside her son, Prince Andrew The Duke of York, and was seen using a walking stick.

Other senior members of the royal family in attendance include the Duke and Duchess of Cambridge, along with two of their three children, Prince George and Princess Charlotte, as well as Princess Beatrice, Princess Eugenie, and The Duke and Duchess of Cornwall.

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WPA Pool//Getty Images

According to the BBC, special measures were put in place to ensure the Queen is comfortable. These include keeping the length of the service to just 45 minutes and allowing Her Majesty to enter through the back of the Abbey via Poet's Corner – a shorter route to her seat.

Prince Philip was Britain's longest-serving consort, supporting the Queen for 70 years after leaving active military service. The memorial service will honour his life and works, featuring bible readings, talks from his nearest and dearest, hymns of praise, and a choir which will sing Te Deum in C by Benjamin Britten, chosen by Prince Philip for his funeral.

Take a look at all the images from Prince Philip's memorial service below:

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The Queen arrives at Westminster Abbey
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Dan Kitwood//Getty Images
The Queen arrives at Westminster Abbey with Prince Andrew
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The Queen arrives at Westminster Abbey
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Prince George, Prince William, Duke of Cambridge, Catherine, Duchess of Cambridge, and Princess Charlotte
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Camilla, Duchess of Cornwall and Prince Charles, Prince of Wales
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Princess Beatrice of York and Edoardo Mapelli Mozzi
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Sophie, Countess of Wessex (R) and her daughter Britain’s Lady Louise Windsor
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Catherine, The Duchess of Cambridge
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Princess Anne
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Princess Eugenie of York
Platinum Jubilee souvenirs and gifts to celebrate the Queen
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Samir Hussein//Getty Images
The Duchess of Cambridge and Princess Charlotte
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Chris Jackson//Getty Images
Prince George and Prince William
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Prince George
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Lisa Joyner
Deputy Daily Editor, Country Living and House Beautiful

 Lisa Joyner is the Deputy Daily Editor at House Beautiful UK and Country Living UK, where she's busy writing about home and interiors, gardening, dog breeds, pets, health and wellbeing, countryside news, small space inspiration, and the hottest properties on the market. Previously, she has written for Conde Nast Traveller, House & Garden and Marie Claire magazine. Lisa studied at University For The Creative Arts, where she completed a BA in Fashion Journalism.