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The Queen and Prince Harry smile in the sunshine at opening of Royal Ascot

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The Queen and Prince Philip have certainly spent plently of time with their grandchildren over the last few days. After spending the day with Prince William on Monday at the 800 year celebrations of Magna Carta and the annual Order of the Garter, they were joined by Prince Harry, Princess Beatrice, Peter Phillips, and Zara Tindall on the opening day of Royal Ascot.

ascot 6 © Photo: Rex

The Queen waves to the cheering crowds

Greeted with huge cheers, the Queen was joined by Harry, Philip and Harry's uncle, Prince Andrew, in the horse-drawn carriage, as the royal procession made its way into the grounds.

Basking in the summer sunshine, the Queen wore a fuschia pink suit and matching hat by milliner Angela Kelly, while Harry looked smart in a black top hat and tails and a royal blue waistcoat.

It is Harry's second year at Royal Ascot, after joining the monarch in her carriage for the first time in 2014.

ascot 7 © Photo: Rex

Camilla and Beatrice both wore shades of green

In a second carriage, Prince Charles and his wife the Duchess of Cornwall waved at the crowds. They sat alongside Charles's niece Princess Beatrice, who wore a gorgeous sea-green and royal blue ensemble.

The Queen's daughter Princess Anne also attended with her children - Peter Philips and his wife Autumn, and Zara Tindall, who matched the sunshine with her buttercup-yellow dress and the Marsha hat by Rosie Olivia Millinery.

This year will see 30-year-old Harry award the winners of the 3.45pm King's Stand Stakes, while Prince Charles and Camilla will also present prizes for the 4.20pm St James's Palace Stake.

ascot 5 © Photo: Rex

The Queen shares a laugh with friends

The Queen is a keen supporter of Royal Ascot, which was founded by Queen Anne in 1711, and is constantly kept informed of the order and the development of the racing programme throughout the year.

She has owned 22 winning horses including Estimate, 2013's winner of the historic Gold Cup.

Attended by thousands of race-goers who are all dressed to impress, each day of the five-day meeting commences with a Royal Procession, and the arrival of the Queen and the royal party in horse-drawn landau carriages is televised each year.