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The Queen to be joined by the Duke and Duchess of Cambridge

The Queen will be joined by the Duke and Duchess of Cambridge today as she continues her Diamond Jubilee tour in the East Midlands. She arrived in Nottingham a short time ago.

The Duke of Edinburgh was originally scheduled to join the Queen and William and Kate on the trip but had to cancel as he continues to recover from a bladder infection.

The Queen met by crowds in Nottingham Credit: Pool

Twelve Scouts and Explorer Scouts from Nottinghamshire are welcoming the Queen, find out more from ITV Central.

Prince Philip receives a birthday salute

The King's Troop Royal Horse Artillery fired a 41-gun salute to Prince Philip in Hyde Park Credit: ITV News

His Royal Highness The Duke of Edinburgh received two gun salutes today to celebrate his 91st birthday yesterday.

The Kings Troop Royal Horse Artillery fired a 41-gun salute in Hyde Park and the Honourable Artillery Company fired a 62-gun salute at the Tower of London.

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