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The Queen's extraordinary home videos from childhood with Princess Margaret

The videos were released to mark her 94th birthday

princess elizabeth

Take a trip down memory lane with this incredible home footage of the Queen's childhood. The monarch, who passed away on September 8 aged 96, shared a close bond with her sister Princess Margaret, and we just love this video.

SEE: The Queen featured in never-before-seen childhood photo following her death

Buckingham Palace memorably released the footage on the royal family's social media channels to mark her 94th birthday. The rare video from the Royal Collection Trust's archives shows the monarch as a carefree young Princess playing with a pram as a toddler, as a young happy girl on a seesaw and jumping around a garden with her younger sibling.

WATCH: Rare footage of the Queen during her childhood 

It also shows her delight as the young royal sits on a horse and is also seen dancing on a yacht with Margaret, in matching outfits, as they learn a dance routine from their mother, Queen Elizabeth, who later became known as the Queen Mother.

PICTURED: Heartbroken Kate Middleton wears black after Queen's death

The accompanying caption on the royal family's Instagram account read: "Head of the Commonwealth, Head of the Armed Forces, Head of State in 16 countries and the longest reigning Monarch in British History. Wife, mother, grandmother and great-grandmother. Happy birthday, Your Majesty! To those of you also celebrating your birthdays today at home, with or without your loved ones - we send you many happy returns."

queen coronation© Photo: Getty Images

The Queen with Prince Philip on the day of her Coronation 

Princess Elizabeth was never expected to ascend the throne, but her uncle Prince Edward's abdication in 1936 meant that her father, George VI, became King and she became his heir presumptive.

READ: When will the Queen's cause of death be revealed?

Elizabeth's reign began in 1952 after the death of her father and she is the longest-serving female head of state in world history, as well as the longest-reigning monarch.

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