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The Queen posed with her son Prince Charles and his wife Camilla, the Duchess of Cornwall, to mark the Order of the Garter service.
The 96-year-old monarch, who was holding a walking stick, was dressed in a silver white gown and her blue Garter sash.
She was pictured stood between Charles and Camilla, who were in their grand velvet Garter robes.
The photograph was taken at Windsor Castle on Monday ahead of the Garter service in St George's Chapel.
However, the Queen did not take part in the traditional procession of Garter Knights and Ladies through the grounds of the Berkshire castle, due to her ongoing mobility issues.
In the past, she has travelled by car to the place of worship.
She did attend the behind-the-scenes lunch and investiture ceremony.
It is the first time the Queen has been pictured since the four days of festivities celebrating her Platinum Jubilee.
This year's Garter Day was beset by an internal struggle after Prince Andrew was forced to remain out of sight during the procession after a "family decision" was taken to limit his appearance to the lunch and investiture ceremony.
Camilla was in the procession for the first time having been appointed a Royal Lady of the Order of the Garter.
Former prime minister Sir Tony Blair was also appointed to the oldest and most senior British Order of Chivalry as a Knight Companion.
The honour prompted a noisy protest outside the castle walls by around 100 Stop the War activists who at one point chanted "Tony Blair war criminal".