The Queen and the Duke of Edinburgh were met by cheering crowds as they travelled in an open-top car to The Parliament Buildings in Stormont, as part of her visit to Northern Ireland.
In an historic encounter, the Queen has shaken the hand of Sinn Fein's Martin McGuinness.
Today's handshake between the Queen and former IRA commander Martin McGuinness is a historic gesture of peace. Here are some others.
The hands of history? The Queen and former IRA Commander Martin McGuinness will make a remarkable gesture for peace today.