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Queen and Duke greet President Obama at Windsor Castle

The Queen shakes hands with President Obama. Credit: ITV News

US President Barack Obama has arrived at Windsor Castle to have lunch with the Queen.

The Queen and Duke of Edinburgh will host a private lunch for the US President and his wife Michelle at Windsor Castle.

It is a post-birthday affair for the Queen, who turned 90 yesterday, so the Obamas are expected to come bearing a gift.

The Obamas will have lunch at Windsor Castle. Credit: RTV

'I've known you since you were 22' Charles' touching tribute to 'mummy'

"Your majesty, mummy, I find it very hard to believe that you have reached your 90th year, and I suddenly realised the other day that I've known you since you were 22-years-old."

Prince Charles rounded off a long and busy day for the Queen with a touching tribute, before she lit the first of 1,000 beacons shining across the country to celebrate her 90th birthday.

Royal Editor Tim Ewart reports

Queen lights up first birthday beacon at Windsor

The Queen has lit up the first in a network of 1,000 beacons set to shine across the country this evening to mark her 90th birthday.

Local authorities around the UK are hosting lighting events to create a network of flames in celebration.

Watch Prince Charles and crowds of well-wishers cheer on the monarch:

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