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As part of today's visit to Cornwall, the Queen and Prince Philip were driven to Marazion and to St Michael's Mount.
The Queen then followed in the footsteps of Queen Victoria - leaving her royal mark on the famous landmark.
Thousands of people turned out in St Ives today to see the Queen and Prince Philip visit the town for the very first time.
The weather was kind and the showers stayed away, for a trip locals have been waiting 61 years for. And they weren't disappointed.
The Queen and Prince Philip are in Cornwall.
The sun came out for them this morning, as did the crowds, as they took in the sights of St Ives for the very first time. They've also been to visit St Michael's Mount.
Our Cornwall Correspondent Steve Hardy has been following their day:
Highlights from The Queen's first ever visit to St. Ives this morning:
Cornwall is preparing for a Royal visit this morning as The Queen and Prince Philip make their way to the county.
They'll be visiting St Ives and St Michael's Mount, where they will stop and leave permanent footprints in casts at the foot of the medieval castle.
Their trip will also include a tour of the lifeboat station and the Tate gallery.
Latest ITV News reports
The Queen and Duke of Edinburgh will be visiting Cornwall today