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The Monarch, 95, appeared in good spirits as she drove herself, a friend and her security personnel to the course. She was later seen smiling and laughing as she enjoyed a favourite event of the year.
For the 77th edition of the equestrian event, Her Majesty paired a white shirt with a grey checked skirt and a navy padded gilet.
After the event, the Queen met Angela Merkel during her final her final visit to the UK as German Chancellor.
The two women met at Windsor Castle after Ms Merkel’s visit to the Prime Minister at his country residence.
Germany’s leader is due to step down later this year, after being in power since 2005.
While waiting to have their picture taken, the Queen told Ms Merkel: “We have got the photographers here, always wanting to take a picture. Making history.”
The German Chancellor responded: “Yes, it’s history, of course.”
Her Majesty then asked Ms Merkel if she had seen Boris Johnson earlier that day.
Ms Merkel replied: “Yes, in Chequers.”
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