Duke of Edinburgh, Duke and Duchess of Sussex and Cambridges arrive at Queen's annual Christmas lunch

The Duke of Edinburgh was among the first members of the Royal family to arrive for the Queen's annual Christmas lunch.

Prince Philip was pictured sitting in the front passenger seat of a car arriving at the lunch, which is an annual fixture in the royal calendar with the Queen inviting large numbers of her family to her official London home before the festive break.

The Duke of Sussex was seen behind the wheel of a car with his wife, who is expecting their first child in the spring, sitting  beside him.

The Duchess of Cambridge was also seen arriving for the festive royal lunch sitting in the front seat of a car with the Duke behind the wheel.

She waived to the crowds and sitting behind her could be seen Prince George with his nanny Maria Teresa Turrion Borrallo.

Also spotted arriving at the palace gates was the Princess Royal and her husband Vice Admiral Sir Tim Laurence, Autumn Phillips, the wife of the Queen's grandson Peter Phillips, Mike and Zara Tindall and the Countess of Wessex alongside her daughter Lady Louise Windsor.

The Duke of York was another guest seen driving himself to the event and his daughter Princess Beatrice arrive separately.

The arrivals in pictures