Prince Andrew arrives at coronation in full regalia as Prince Harry dressed in plain suit

Prince Andrew has been pictured inside Westminster Abbey for his brother's coronation in his full ceremonial robes.

The Duke of York, who was booed as he was driven to the coronation ceremony of King Charles, wore his formal Order of the Garter robes for the occasion.

The striking image is in stark contrast to last year, when Andrew was banned from appearing alongside senior members of the Royal Family at the Order of the Garter ceremony in Windsor.

It comes following reports that Andrew has contemplated some form of public rehabilitation since being stripped of his royal titles following the fall-out from his relationship with convicted paedophile Jeffrey Epstein

Harry, however, appeared at the coronation wearing just a suit with his medals pinned to the lapel.

Neither Andrew nor Harry are playing a formal role in the coronation ceremony, with the latter expected to attend only the ceremony before returning to his family in the United States.

Both also wore suits to the Queen's funeral, in contrast to their relatives who wore full military attire.

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He and Harry sat with the rest of the Royal Family in Westminster Abbey.

The Duke of York and the Duke of Sussex are no longer working royals.

Harry and his wife stepped back as senior members of the Royal Family, moving to the US, and since then Harry has sparked controversy with his criticism of his relatives in his memoir Spare and various interviews.

Harry chatted to his cousin Princess Beatrice as he entered Westminster Abbey before taking his seat in the third row for the coronation, two rows behind Prince William.

Andrew stepped down from public life amid the controversy over his friendship with Epstein and allegations of sexual assault by Virginia Giuffre, with whom he settled a civil case out of court last year.

There have been various suggestions that Andrew may be planning to return to public life - something some say will never happen.

In a recent Yahoo roundtable discussion about the 'Future of the Monarchy' hosted by Yahoo News UK's royal executive editor Omid Scobie, a panel of royal commentators suggested Andrew entirely quit public life.

What is the Order of the Garter?

The Order of the Garter is the oldest and most senior order of chivalry in Britain.

According to the royal family website, today the order includes the King, who is Sovereign of the Garter, along with “several senior members of the royal family, and 24 knights chosen in recognition of their work”.

The Order of the Garter robes are made of dark blue velvet and can be accompanied by a cap.

The robe has a white satin lining, white silk bows on the shoulders, an attached red velvet hood and tasselled cordons.