The Queen toured the military's leading rehabilitation centre for injured servicemen and women to learn about their long road back to health.
She was joined by the Duke of Edinburgh and the pair watched as amputee soldiers walked along obstacle courses on artificial legs or got to grips with manoeuvring wheelchairs.
The Queen was making her first visit to Headley Court in Surrey where Britain's battle casualties are sent for intensive rehab once their lives are out of danger.
The Duchess of Cambridge has been greeted by a wave of St George's Day flags from cheering schoolchildren on her visit to ManchesterRead the full story ›
The Duke and Duchess of Cambridge will be visiting Barrow-in-Furness for the first time today.
Prince William and Kate will take a tour of the town's BAE Systems base.
His Royal Highness the Prince of Wales is visiting Cumbria today.
Prince Charles will be visiting the historic market town of Kirkby Lonsdale where he will tour the market and local shops, before meeting stall holders, shopkeepers and locals.
He will also pay a visit to St Mary's Church in the town, which dates back to the 12th century.
Sixteen year old Alice Pyne from Ulverston and her sister Milly have been awarded British Empire Medals.
The ceremony was held on the shores of Windermere and our correspondent Elaine Willcox was among the invited guests.
Alice and Millie Pyne from Ulverston who've raised hundreds of thousands of pounds for charity will both be awarded the British Empire MedalRead the full story ›
Two sisters from Ulverston who've raised hundred of thousands of pounds for charity while both fighting serious illness have been honoured by the Queen. Alice and Milly Pyne have been awarded the British Empire Medal. Alice famously published her own "Bucket List" of things to do before she dies.
Alice and Millie Pyne, sisters from Ulverston who've raised hundreds of thousands of pounds for charity while both fighting serious illnesses, have been honoured by the Queen. They are the first sisters to be jointly awarded the British Empire Medal.
Mel Barham's report from the Noreen Avenue Street party!
Paul Crone has spent the day at the Blackpool Tower ballroom where everyone was enjoying the party!